Net Loss Per Share - Summary of Weighted Average Potentially Dilutive Shares are Excluded from Calculation of Diluted Earnings Per Share (Details) - shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Weighted-average potentially dilutive shares are excluded from calculation of diluted earnings per share	15,266,964	49,532,246	103,063,988
Shares of Common Stock Issuable Upon Conversion of Redeemable Convertible Preferred Stock
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Weighted-average potentially dilutive shares are excluded from calculation of diluted earnings per share		33,431,158	82,428,289
Shares of Common Stock Issuable Upon Conversion of Series I Warrant
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Weighted-average potentially dilutive shares are excluded from calculation of diluted earnings per share			1,059,620
RSUs and RSAs Subject to Future Vesting
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Weighted-average potentially dilutive shares are excluded from calculation of diluted earnings per share	8,189,247	6,155,387	3,826,250
Shares Issuable Pursuant to ESPP
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Weighted-average potentially dilutive shares are excluded from calculation of diluted earnings per share	627,698	326,819
Shares of Common Stock Issuable from Stock Options
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Weighted-average potentially dilutive shares are excluded from calculation of diluted earnings per share	6,450,019	9,618,882	15,749,829