CONSOLIDATED STATEMENTS OF CONVERTIBLE PREFERRED STOCK AND STOCKHOLDERS’ EQUITY (DEFICIT) - USD ($) $ in Thousands	Total	Class A Common Stock	Class B Common Stock	Series D Preferred Stock	Series E Preferred Stock	Common Stock Class A Common Stock	Common Stock Class B Common Stock	Additional Paid-In Capital	Accumulated Other Comprehensive (Loss) Income	Accumulated Deficit
Stockholders' equity, beginning balance (in shares) at Dec. 31, 2019						0	53,690,145
Stockholders' equity, beginning balance at Dec. 31, 2019	$ (9,118)					$ 0	$ 5	$ 57,322	$ (289)	$ (66,156)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options (in shares)							492,604
Exercise of stock options	440							440
Repurchase of unvested common stock shares (in shares)							(499,480)
Vesting of common stock warrants	192							192
Stock-based compensation	6,594							6,594
Comprehensive income (loss)	2,245								2,245
Net loss	(25,860)									(25,860)
Stockholders' equity, ending balance (in shares) at Dec. 31, 2020						0	53,683,269
Stockholders' equity, ending balance at Dec. 31, 2020	$ (25,507)					$ 0	$ 5	64,548	1,956	(92,016)
Temporary equity, beginning balance (in shares) at Dec. 31, 2019	62,187,015
Temporary equity, beginning balance at Dec. 31, 2019	$ 102,302
Increase (Decrease) in Temporary Equity [Roll Forward]
Issuance of Preferred Stock (net of issuance costs) (in shares)				155,209	8,648,695
Issuance of Preferred Stock (net of issuance costs)				$ 1,922	$ 99,825
Temporary equity, ending balance (in shares) at Dec. 31, 2020	70,990,919
Temporary equity, ending balance at Dec. 31, 2020	$ 204,049
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Conversion of convertible preferred stock to Class B common stock upon IPO (in shares)							70,990,919
Conversion of convertible preferred stock to Class B common stock upon IPO	204,049						$ 7	204,042
Issuance of Class A common stock upon IPO, net of underwriting discounts (in shares)						16,850,799
Issuance of Class A common stock upon IPO, net of underwriting discounts, commissions, and offering costs	231,553					$ 2		231,551
Exercise of stock options (in shares)							3,274,745
Exercise of stock options	5,484							5,484
Exercise of common stock warrants (in shares)							1,150,956
Exercise of common stock warrants	395							395
Vesting of common stock warrants	1,476							1,476
Vesting of restricted stock units (in shares)						204
Reclassification of preferred stock warrant liability due to exchange to Class B common stock upon IPO (in shares)							1,104,560
Reclassification of preferred stock warrant liability to additional paid-in capital due to conversion to Class B common stock upon IPO	16,469							16,469
Conversion of Class B shares into Class A common stock (in shares)						32,165,508	(32,165,508)
Conversion of Class B shares into Class A common stock	0					$ 3	$ (3)
Stock-based compensation	9,744							9,744
Comprehensive income (loss)	(1,290)								(1,290)
Net loss	(45,370)									(45,370)
Stockholders' equity, ending balance (in shares) at Dec. 31, 2021		49,016,511	98,036,009			49,016,511	98,038,941
Stockholders' equity, ending balance at Dec. 31, 2021	$ 397,004					$ 5	$ 10	533,709	666	(137,386)
Increase (Decrease) in Temporary Equity [Roll Forward]
Conversion of convertible preferred stock to Class B common stock upon IPO (in shares)	(70,990,919)
Conversion of convertible preferred stock to Class B common stock upon IPO	$ (204,049)
Temporary equity, ending balance (in shares) at Dec. 31, 2021	0
Temporary equity, ending balance at Dec. 31, 2021	$ 0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock under employee stock purchase plan (in shares)						311,509
Issuance of common stock under employee stock purchase plan	$ 1,201							1,201
Exercise of stock options (in shares)	1,743,005						1,743,005
Exercise of stock options	$ 2,585							2,585
Exercise of common stock warrants (in shares)							25,717
Vesting of common stock warrants	843							843
Vesting of restricted stock units (in shares)						770,791
Repayment of non-recourse promissory note	539							539
Conversion of Class B shares into Class A common stock (in shares)						46,669,934	(46,669,934)
Conversion of Class B shares into Class A common stock	0					$ 5	$ (5)
Stock-based compensation	20,230							20,230
Comprehensive income (loss)	(4,277)								(4,277)
Net loss	(101,354)									(101,354)
Stockholders' equity, ending balance (in shares) at Dec. 31, 2022		96,768,745	53,137,729			96,768,745	53,137,729
Stockholders' equity, ending balance at Dec. 31, 2022	$ 316,769					$ 10	$ 5	$ 559,106	$ (3,611)	$ (238,741)
Temporary equity, ending balance (in shares) at Dec. 31, 2022	0