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Stock-Based Compensation - Narrative (Details)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended 120 Months Ended
Aug. 16, 2021
USD ($)
shares
Nov. 17, 2020
shares
Jan. 31, 2021
shares
Dec. 31, 2022
Dec. 31, 2021
USD ($)
plan
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
Jan. 01, 2032
Aug. 15, 2021
USD ($)
Jun. 28, 2021
shares
Jan. 01, 2021
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Number of equity incentive plans | plan         3          
Options granted (in shares)         0          
Percentage vested 25.00%                  
Repurchase of stock options | $         $ 1,500 $ 0        
Weighted-average grant date fair value of options granted (in dollars per share) | $ / shares         $ 0 $ 0.95        
Unrecognized compensation expense for stock option grants | $         $ 7,637          
2016 Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Additional share authorized (in shares)     1,153,448              
Total shares authorized (in shares)                   33,121,391
Repurchase of stock options | $ $ 1,500                  
2021 Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Common stock reserved for future issuance (in shares) 15,440,430                  
2021 Plan | Forecast                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Annual increase, percentage of outstanding stock maximum       5.00%     3.00%      
Options                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Unrecognized compensation expense, period for recognition         2 years 1 month 13 days          
Options | 2016 Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Vesting period         4 years          
Options to be repurchased (in shares)                 542,615  
Value of options authorized to be repurchased | $               $ 1,500    
Options | 2016 Plan | Share-based Payment Arrangement, Tranche One                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Vesting percentage         25.00%          
Options | 2016 Plan | Share-based Payment Arrangement, Tranche Two                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Vesting period         3 years          
Options | 2014 Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Expiration period         10 years          
Options | 2014 Plan | Maximum                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Vesting period         4 years          
RSUs                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Awards granted (in shares)         7,913,760          
Fair value of awards that vested | $         $ 3,014          
Unrecognized compensation expense, period for recognition         3 years 5 months 12 days          
Unrecognized compensation expense for RSU's | $         $ 28,059          
RSUs | 2016 Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Awards granted (in shares)         1,741,689          
RSUs | 2016 Plan | Share-based Payment Arrangement, Tranche One                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Vesting percentage         25.00%          
RSUs | 2016 Plan | Share-based Payment Arrangement, Tranche Two                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Vesting period         3 years          
RSUs | 2021 Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Awards granted (in shares)         6,172,071          
RSUs | 2021 Plan | Share-based Payment Arrangement, Tranche One                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Vesting percentage         25.00%          
Vesting period         3 years          
Chief Financial Officer                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Unrecognized compensation expense for stock option grants | $         $ 3,376          
Chief Financial Officer | 2016 Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Options granted (in shares)   3,262,744                
Chief Financial Officer | Options | 2016 Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Vesting percentage   25.00%                
Chief Financial Officer | Options | 2016 Plan | Share-based Payment Arrangement, Tranche One                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Vesting percentage   25.00%                
Chief Financial Officer | Options | 2016 Plan | Share-based Payment Arrangement, Tranche Two                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Vesting period   3 years