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Stockholders’ Equity and Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2023
Stockholders’ Equity and Stock-Based Compensation [Abstract]  
Schedule of Activity for Common Stock Subject to Vesting The activity for common stock subject to vesting is as follows:
   Shares
Subject to
Vesting		   Weighted
Average
Grant Date
Fair Value		 
Balance of unvested shares - January 1, 2023   3,085,123   $       5.01 
Granted   5,081,863   $2.08 
Vested   (1,493,445)  $4.08 
Forfeited   (1,034,008)  $2.92 
Balance of unvested shares - December 31, 2023   5,639,533   $3.01 
Schedule of Granted Options to Purchase During the years ended December 31, 2023 and 2022, the Company granted options to purchase 4,217,330 and 5,576,191 shares, respectively of Class A common stock, to employees and consultants with a fair value of $5,651 and $15,461, respectively, calculated using the Black-Scholes option-pricing model with the following assumptions:
      Year Ended
December 31,		  
      2023       2022  
Risk-free interest rate     3.42% - 4.39 %     1.94% - 3.92 %
Expected term (in years)     6.02 - 6.08       5.52 - 6.08  
Dividend yield     — %     — %
Expected volatility     74.42% - 79.44 %     68.87% - 70.26 %
Schedule of Stock Based Awards Granted is Reported in the Statements of Operations Total stock-based compensation expense related to all of the Company’s stock-based awards granted is reported in the statements of operations as follows:
   Year Ended
December 31,		 
   2023   2022 
Research and development  $3,164   $2,696 
Sales and marketing   1,256    1,296 
General and administrative   8,847    8,263 
Total  $13,267   $12,255 
Schedule of Option Activity The option activity of the 2021 Plan for the year ended December 31, 2023, is as follows:
       Weighted
Average
Exercise		   Weighted
Average
Remaining
Contractual
Life		 
   Options   Price   (in years) 
             
Options outstanding at January 1, 2023   14,192,417   $      3.90          8.26 
Granted   4,217,330    1.96      
Exercised   (1,087,090)   0.27      
Forfeited, expired, or cancelled   (5,057,319)   4.32      
Options vested and expected to vest at December 31, 2023   12,265,338   $3.37    7.57 
Schedule of Class A Common Stock for Future Issuance As of December 31, 2023 and 2022, the Company has reserved the following shares of Class A Common Stock for future issuance (in thousands):
   As of December 31, 
   2023   2022 
Common stock options outstanding   12,265    14,192 
Restricted stock units outstanding   5,640    3,085 
Shares available for issuance under the 2021 Plan   7,228    3,465 
Public warrants   17,249    17,249 
Private warrants   10,400    10,400 
Total shares of authorized Common Stock reserved for future issuance   52,782    48,391