Common Stock and Stockholder's Equity (Deficit) - Narrative (Details) $ / shares in Units, $ in Thousands			12 Months Ended
	Aug. 02, 2021 USD ($) $ / shares shares	Mar. 26, 2021 shares	Dec. 31, 2022 USD ($) vote shares	Dec. 31, 2021 USD ($) shares	Dec. 31, 2020 USD ($)
Class of Stock [Line Items]
Conversion of stock (in shares)			1
Price per share of common stock (in dollars per share) | $ / shares	$ 24.25
Aggregate net proceeds | $	$ 45,500
Payments of stock issuance costs | $	$ 3,300		$ 0	$ 4,729	$ 1,117
Class B Common Stock Warrant
Class of Stock [Line Items]
Warrants outstanding (in shares)		164,973
Common Stock
Class of Stock [Line Items]
Stock converted (in shares)		65,970,938		65,971,000
Class A common stock
Class of Stock [Line Items]
Number of votes for each share | vote			1
Shares sold (in shares)	2,000,000
Class A common stock | Follow-On Public Offering | Selling Stockholders
Class of Stock [Line Items]
Shares sold (in shares)	5,388,024
Class A common stock | Over-Allotment Option | Selling Stockholders
Class of Stock [Line Items]
Shares sold (in shares)	963,655
Class B common stock
Class of Stock [Line Items]
Number of votes for each share | vote			10