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Stock-Based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended
Jun. 05, 2023
Jan. 31, 2023
Jan. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Jun. 30, 2023
Feb. 28, 2023
Dec. 31, 2022
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             $ 6,100 $ 9,100      
Aggregate grant-date fair value of options vested             6,800 8,000      
Stock-based compensation expense       $ 7,958 $ 4,830   18,670 13,011      
Stock-based compensation included in capitalized internal-use software             3,703 $ 1,808      
Cost not yet recognized for stock options, amount       13,000     $ 13,000        
Cost not yet recognized, period for recognition             2 years        
ESPP withholding       1,185     $ 1,185       $ 415
Restricted stock units outstanding                      
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                      
Cost not yet recognized for restricted stock units, amount       $ 30,400     $ 30,400        
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%      
2021 Plan                      
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]                      
Number of shares authorized (in shares)                 14,662,500    
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     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 $ 800   $ 2,800 $ 2,400      
Stock-based compensation included in capitalized internal-use software       200 200   700 300      
Cost not yet recognized for stock options, amount       1,800     $ 1,800        
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             1 year        
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  
Stock-based compensation expense       1,700 700   $ 2,600 1,700      
Stock-based compensation included in capitalized internal-use software       $ 200 $ 100   $ 400 $ 200