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Convertible Preferred Stock and Equity - Additional Information (Details) - USD ($) |  | 1 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | --- | ---
Aug. 24, 2021 | Aug. 31, 2019 | Mar. 31, 2019 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Sep. 07, 2021 | Mar. 31, 2021
Temporary Equity And Permanent Equity [Line Items] |  |  |  |  |  |  |  |
Temporary equity shares authorized |  |  |  | 50,000,000 | 50,000,000 |  |  |
Temporary equity par or stated value per share |  |  |  | $ 0.0001 | $ 0.0001 |  |  |
Temporary equity, shares outstanding |  |  |  | 0 | 0 |  |  |
Number of warrants to vest |  |  |  | 0 |  |  |  |
Common stock, par value |  |  |  | $ 0.0001 | $ 0.0001 |  |  |
Sales and marketing |  |  |  | $ 19,209,000 | $ 20,872,000 | $ 14,017,000 |  |
Common stock, issued |  |  |  | 203,327,000 | 198,525,000 |  | 148,000 |
Preferred Stock |  |  |  |  |  |  |  |
Temporary Equity And Permanent Equity [Line Items] |  |  |  |  |  |  |  |
Temporary equity shares authorized |  |  |  | 50,000,000 |  |  |  |
Temporary equity par or stated value per share |  |  |  | $ 0.0001 |  |  |  |
Temporary equity, par value | $ 0.00001 |  |  |  |  |  |  |
Preferred stock, conversion basis |  |  |  | 1:1 basis |  |  |  |
Temporary equity, shares outstanding |  |  |  | 24,816 |  |  |  |
Shares converted into common stock upon business combination |  |  |  | 121,214 |  |  |  |
Shares issued and each share converted into right to receive shares of common stock | 4.8846 |  |  |  |  |  |  |
Warrant |  |  |  |  |  |  |  |
Temporary Equity And Permanent Equity [Line Items] |  |  |  |  |  |  |  |
Contra revenue |  |  |  |  | $ 72,000 | 121,000 |  |
Non vested warrants excluded from additional paid in capital and contract revenue |  |  |  | $ 193,000 |  |  |  |
Common stock, par value |  | $ 2.3 | $ 0.01 |  |  |  |  |
Sales and marketing |  |  |  | $ 0 | 0 | 0 |  |
Class of warrant or right measurement period expiration date |  |  |  | Feb. 29, 2024 |  |  |  |
Class of warrant or right expiration period |  | Aug. 31, 2029 |  |  |  |  |  |
Fully paid and non assessable common stock |  | 33,000 |  |  |  |  |  |
Convertible note |  |  | $ 2,500,000 |  |  |  |  |
Common stock, issued |  |  |  |  |  |  |  | 503,000
Warrant | Investor |  |  |  |  |  |  |  |
Temporary Equity And Permanent Equity [Line Items] |  |  |  |  |  |  |  |
Warrants issued to purchase shares of common stock |  |  |  | 1,874,000 |  |  |  |
Warrant | Customers |  |  |  |  |  |  |  |
Temporary Equity And Permanent Equity [Line Items] |  |  |  |  |  |  |  |
Common stock, par value |  |  |  | $ 0.01 |  |  |  |
Warrants issued to purchase shares of common stock |  |  |  | 3,663,000 |  |  |  |
Warrant | Tranche Two |  |  |  |  |  |  |  |
Temporary Equity And Permanent Equity [Line Items] |  |  |  |  |  |  |  |
Sales and marketing |  |  |  |  | $ 217,000 | $ 810,000 |  |
Warrant | Maximum |  |  |  |  |  |  |  |
Temporary Equity And Permanent Equity [Line Items] |  |  |  |  |  |  |  |
Fully paid and non assessable common stock |  |  | 503,000 |  |  |  |  |

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