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Stock-Based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 6 Months Ended 12 Months Ended
Jun. 05, 2023
Jan. 31, 2023
Jan. 31, 2022
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2021
Feb. 28, 2023
Dec. 31, 2022
Oct. 31, 2021
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                      
Number of shares authorized (in shares)                   9,102,074  
Expected dividend yield (in percent)           0.00% 0.00%        
Weighted-average grant-date fair value of options granted (USD per share)             $ 6.26        
Intrinsic value of options exercised           $ 3,900 $ 6,100        
Aggregate grant-date fair value of options vested           4,600 4,300        
Stock-based compensation expense       $ 4,884 $ 4,346 10,712 8,181        
Stock-based compensation included in capitalized internal-use software           2,030 $ 1,005        
Cost not yet recognized for stock options, amount       15,500   $ 15,500          
Cost not yet recognized, period for recognition           1 year 11 months 1 day          
ESPP withholding       402   $ 402       $ 415  
Restricted stock units outstanding                      
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                      
Cost not yet recognized, period for recognition           3 years          
Cost not yet recognized for restricted stock units, amount       $ 21,600   $ 21,600          
Employee Stock                      
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                      
Expected dividend yield (in percent)       0.00% 0.00% 0.00% 0.00%        
2021 Plan                      
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                      
Number of shares authorized (in shares)       14,662,500   14,662,500   5,262,500      
Number of additional shares authorized (in shares) 13,719,000 809,916 411,399                
Minimum annual additional number of shares authorized (in shares)               4,784,100      
Minimum annual additional number of shares authorized, common stock outstanding (in percent)               5.00%      
2021 Plan | Restricted stock units outstanding | Share-Based Payment Arrangement, Nonemployee                      
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                      
Award vesting period           1 year          
2021 Plan | Employee Stock                      
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                      
Number of shares authorized (in shares)                     956,800
Number of additional shares authorized (in shares)   667,874 607,696                
Stock-based compensation (in shares)           348,555          
Stock-based compensation expense       $ 900 $ 700 $ 1,900 $ 1,500        
Stock-based compensation included in capitalized internal-use software       200 100 400 200        
Cost not yet recognized for stock options, amount       2,800   $ 2,800          
Cost not yet recognized, period for recognition           1 year          
2021 Plan | Minimum | Restricted stock units outstanding | Share-Based Payment Arrangement, Employee                      
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                      
Award vesting period           3 years          
2021 Plan | Maximum | Restricted stock units outstanding | Share-Based Payment Arrangement, Employee                      
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                      
Award vesting period           4 years          
2011 Equity Incentive Plan (“2011 Plan”) | Options outstanding                      
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                      
Award vesting period           4 years          
Award expiration period           10 years          
2022 Employee Bonus Plan | Restricted stock units outstanding                      
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                      
Number of shares authorized (in shares)                 288,000    
2022 Employee Bonus Plan | Employee Stock                      
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                      
Stock-based compensation expense       $ 300 $ 600 $ 900 $ 1,000