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Balance Sheet Components - Schedule of Accrued Expenses (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021
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Organization, Consolidation and Presentation of Financial Statements [Abstract] |  |
Accrued commission | $ 4,494 | $ 4,708
Accrued payroll and employee related taxes | 1,580 | 2,689
Accrued sales tax | 338 | 932
Liability from early exercised stock options | 1,382 | 3,708
2021 Employee Stock Purchase Plan withholding | 1,185 | 981
Operating lease liabilities, current | 3,997 | 0
Other accrued liabilities | 5,723 | 4,918
Total accrued expenses | $ 18,699 | $ 17,936

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