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Redeemable Convertible Preferred Stock - Additional Information (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Jul. 31, 2021
Jul. 01, 2021
Jun. 30, 2021
Dec. 31, 2020
Jun. 18, 2020
Jun. 17, 2020
Temporary Equity [Line Items]                
Temporary equity, shares issued   37,107,459            
Temporary equity, shares authorized   37,710,624            
Additional common stock issued to holders of redeemable convertible preferred stock   39,474,330            
Cash dividend declared or paid   $ 0            
Temporary equity, shares outstanding 0 37,107,459            
Minimum                
Temporary Equity [Line Items]                
Proceeds from underwritten public offering net of underwriting discount and commissions $ 75,000,000.0              
Series A Redeemable Convertible Preferred Share                
Temporary Equity [Line Items]                
Temporary equity, shares issued 0 6,289,609            
Temporary equity, shares authorized 0 6,289,609            
Additional common stock issued to holders of redeemable convertible preferred stock   6,407,256            
Non-cumulative Dividends per share entitled to receive $ 0.073744              
Temporary equity, shares outstanding 0 6,289,609       6,289,609    
Series B Redeemable Convertible Preferred Shares                
Temporary Equity [Line Items]                
Temporary equity, shares issued 0 14,496,835            
Temporary equity, shares authorized 0 15,100,000            
Additional common stock issued to holders of redeemable convertible preferred stock   16,746,059            
Percentage of non-cumulative dividends entitled to receive 6.00%              
Temporary equity, shares outstanding 0 14,496,835       14,496,835    
Series C-1 Redeemable Convertible Preferred Shares                
Temporary Equity [Line Items]                
Temporary equity, shares issued 0 13,150,430   13,150,430        
Temporary equity issue price per share $ 10.265809              
Temporary equity, shares authorized 0 13,150,430   13,150,430        
Additional common stock issued to holders of redeemable convertible preferred stock   13,150,430            
Temporary equity, shares outstanding 0 13,150,430            
Series C-2 Redeemable Convertible Preferred Shares                
Temporary Equity [Line Items]                
Temporary equity, shares issued 0 3,170,585            
Temporary equity issue price per share $ 8.725938              
Temporary equity, shares authorized 0 3,170,585   3,170,585        
Additional common stock issued to holders of redeemable convertible preferred stock   3,170,585            
Temporary equity, shares outstanding 0 3,170,585            
2021 Notes | Series C-2 Redeemable Convertible Preferred Shares                
Temporary Equity [Line Items]                
Temporary equity, shares issued     3,170,585          
Notes including accrued interest     $ 27,700,000          
2017 Notes | Series A Redeemable Convertible Preferred Share                
Temporary Equity [Line Items]                
Preferred stock conversion price per share             $ 1.2065 $ 1.229073
Additional common stock issued to holders of redeemable convertible preferred stock             117,650  
2017 Notes | Series B Redeemable Convertible Preferred Shares                
Temporary Equity [Line Items]                
Preferred stock conversion price per share     $ 14.6942   $ 16.974077      
Additional common stock issued to holders of redeemable convertible preferred stock     2,249,224