CONSOLIDATED STATEMENTS OF CHANGES IN REDEEMABLE CONVERTIBLE PREFERRED STOCK AND STOCKHOLDERS' EQUITY (DEFICIT) - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2020	72,225,916
Beginning balance at Dec. 31, 2020	$ 443,263
Redeemable Convertible Preferred Stock
Payment of Series B Dividend upon initial public offering	(4,969)
Cumulative dividends and adjustments to redeemable convertible preferred stock	$ 277
Conversion of redeemable convertible preferred stock to common stock upon initial public offering (in shares)	(72,225,916)
Conversion of redeemable convertible preferred stock to common stock upon initial public offering	$ (438,571)
Ending balance (in shares) at Dec. 31, 2021	0
Ending balance at Dec. 31, 2021	$ 0
Beginning balance (in shares) at Dec. 31, 2020		4,909,529
Beginning balance at Dec. 31, 2020	(263,523)	$ 5	$ 0	$ (263,528)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock-based compensation	14,535		14,535
Exercised stock options (in shares)		5,801,124
Exercised stock options	9,112	$ 6	9,106
Issuance of common stock upon restricted stock unit vesting (in shares)		3,368
Common stock issued under Employee Stock Purchase Plan (ESPP) (in shares)		122,314
Common stock issued under Employee Stock Purchase Plan (ESPP)	3,005		3,005
Exercised warrants (in shares)		211,323
Exercised warrants	645		645
Cumulative dividends and adjustments to redeemable convertible preferred stock	(277)		(277)
Issuance of common stock upon initial public offering, net of underwriting discounts and commissions and other offering costs (in shares)		6,900,000
Issuance of common stock upon initial public offering, net of underwriting discounts and commissions and other offerings costs	192,810	$ 7	192,803
Conversion of redeemable convertible preferred stock to common stock upon initial public offering (in shares)		72,225,916
Conversion of redeemable convertible preferred stock to common stock upon initial public offering	438,570	$ 72	438,498
Conversion of redeemable convertible preferred stock warrants to common stock warrants upon initial public offering	5,727		5,727
Cost in connection with initial public offering	(5,674)		(5,674)
Repurchase of common stock (in shares)		(218,917)
Repurchase of common stock	(3,497)		6	(3,503)
Net loss	(46,822)			(46,822)
Ending balance (in shares) at Dec. 31, 2021		89,954,657
Ending balance at Dec. 31, 2021	$ 344,611	$ 90	658,374	(313,853)
Ending balance (in shares) at Dec. 31, 2022	0
Ending balance at Dec. 31, 2022	$ 0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock-based compensation	$ 45,395		45,395
Exercised stock options (in shares)	1,135,346	1,135,346
Exercised stock options	$ 2,399	$ 1	2,398
Issuance of common stock upon restricted stock unit vesting (in shares)		698,841
Issuance of common stock upon restricted stock unit vesting	0	$ 1	(1)
Common stock issued under Employee Stock Purchase Plan (ESPP) (in shares)		323,905
Common stock issued under Employee Stock Purchase Plan (ESPP)	2,906		2,906
Payments for taxes related to net settlement of equity awards	(2,665)		(2,665)
Net loss	(58,600)			(58,600)
Ending balance (in shares) at Dec. 31, 2022		92,112,749
Ending balance at Dec. 31, 2022	$ 334,046	$ 92	706,407	(372,453)
Ending balance (in shares) at Dec. 31, 2023	0
Ending balance at Dec. 31, 2023	$ 0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock-based compensation	$ 52,686		52,686
Exercised stock options (in shares)	2,244,170	2,243,813
Exercised stock options	$ 12,983	$ 3	12,980
Issuance of common stock upon restricted stock unit vesting (in shares)		1,943,846
Issuance of common stock upon restricted stock unit vesting	$ 0	$ 2	(2)
Common stock issued under Employee Stock Purchase Plan (ESPP) (in shares)	421,690	421,690
Common stock issued under Employee Stock Purchase Plan (ESPP)	$ 4,124		4,124
Payments for taxes related to net settlement of equity awards	(15,985)		(15,985)
Net loss	(62,913)			(62,913)
Ending balance (in shares) at Dec. 31, 2023		96,722,098
Ending balance at Dec. 31, 2023	$ 324,941	$ 97	$ 760,210	$ (435,366)