Consolidated Statements of Redeemable Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($) $ in Thousands	Total	Redeemable Convertible Preferred Stock	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Income (loss)	Accumulated Deficit
Redeemable Convertible Preferred Stock Beginning Balance (in shares) at Dec. 31, 2020		351,844,340
Redeemable Convertible Preferred Stock Beginning Balance at Dec. 31, 2020		$ 501,881
Redeemable Convertible Preferred Stock
Conversion of redeemable convertible preferred stock to common stock upon initial public offering (in shares)		(351,844,340)
Conversion of redeemable convertible preferred stock to common stock upon initial public offering		$ (501,881)
Redeemable Convertible Preferred Stock Ending Balance (in shares) at Dec. 31, 2021		0
Redeemable Convertible Preferred Stock Ending Balance at Dec. 31, 2021		$ 0
Balance at the beginning of the period (in shares) at Dec. 31, 2020			130,312,838
Balance at the beginning of the period at Dec. 31, 2020	$ (213,717)		$ 13	$ 39,769	$ 25	$ (253,524)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon Initial public offering, net of issuance costs (in shares)			52,272,727
Issuance of common stock upon initial public offering, net of issuance costs	1,312,338		$ 7	1,312,331
Conversion of redeemable convertible preferred stock to common stock upon initial public offering (in shares)			351,844,340
Conversion of redeemable convertible preferred stock to common stock upon initial public offering	501,881		$ 34	501,847
Reclassification of redeemable convertible preferred stock warrant liabilities to common stock and additional paid-in capital upon initial public offering	5,438			5,438
Issuance of common stock upon exercise of vested options (in shares)			4,277,344
Issuance of common stock upon exercise of options	4,969			4,969
Issuance of common stock under employee stock purchase plan (in shares)			153,905
Issuance of common stock under employee stock purchase plan	3,201			3,201
Repurchase of early exercised stock options (in shares)			(85,870)
Issuance of common stock net settlement of restricted stock units (in shares)			1,736,212
Issuance of common stock upon net settlement of restricted stock units	(23,552)			(23,552)
Issuance of common stock upon exercise of common stock warrants (in shares)			872,022
Issuance of common stock upon exercise of common stock warrants	60			60
Vesting of common stock warrants	6,332			6,332
Share-based compensation expense	142,660			142,660
Change in accumulated other comprehensive income (loss)	(2,255)				(2,255)
Net loss	(163,929)					(163,929)
Balance at the end of the period (in shares) at Dec. 31, 2021			541,383,518
Balance at the end of the period at Dec. 31, 2021	1,573,426		$ 54	1,993,055	(2,230)	(417,453)
Redeemable Convertible Preferred Stock Ending Balance (in shares) at Dec. 31, 2022		0
Redeemable Convertible Preferred Stock Ending Balance at Dec. 31, 2022		$ 0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of vested options (in shares)			7,785,748
Issuance of common stock upon exercise of options	9,754			9,754
Issuance of common stock under employee stock purchase plan (in shares)			683,485
Issuance of common stock under employee stock purchase plan	4,762			4,762
Repurchase of early exercised stock options (in shares)			(45,958)
Issuance of common stock net settlement of restricted stock units (in shares)			3,214,677
Issuance of common stock upon net settlement of restricted stock units	(15,362)			(15,362)
Vesting of common stock warrants	8,621			8,621
Share-based compensation expense	160,743			160,743
Repurchase and retirement of common stock (in shares)			(11,657,371)
Repurchase and retirement of common stock	(79,201)		$ (1)	(79,200)
Change in accumulated other comprehensive income (loss)	(5,007)				(5,007)
Net loss	(184,780)					(184,780)
Balance at the end of the period (in shares) at Dec. 31, 2022			541,364,099
Balance at the end of the period at Dec. 31, 2022	1,472,956		$ 53	2,082,373	(7,237)	(602,233)
Redeemable Convertible Preferred Stock Ending Balance (in shares) at Dec. 31, 2023		0
Redeemable Convertible Preferred Stock Ending Balance at Dec. 31, 2023		$ 0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of vested options (in shares)			3,353,103
Issuance of common stock upon exercise of options	5,399		$ 1	5,398
Issuance of common stock under employee stock purchase plan (in shares)			792,140
Issuance of common stock under employee stock purchase plan	3,066			3,066
Repurchase of early exercised stock options (in shares)			(2,625)
Issuance of common stock net settlement of restricted stock units (in shares)			9,347,171
Issuance of common stock upon net settlement of restricted stock units	(26,661)		$ 1	(26,662)
Issuance of common stock upon exercise of common stock warrants	0
Vesting of common stock warrants	8,715			8,715
Share-based compensation expense	185,231			185,231
Repurchase and retirement of common stock (in shares)			(34,510,913)
Repurchase and retirement of common stock	(190,348)		$ (3)	(190,345)
Change in accumulated other comprehensive income (loss)	7,999				7,999
Net loss	(222,962)					(222,962)
Balance at the end of the period (in shares) at Dec. 31, 2023			520,342,975
Balance at the end of the period at Dec. 31, 2023	$ 1,243,395		$ 52	$ 2,067,776	$ 762	$ (825,195)