Net Loss Per Share - Earnings Per Share Basic and Diluted (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Denominator
Weighted-average common shares outstanding - basic (in shares)	54,099,757	52,954,079	51,126,510
Weighted-average common shares outstanding - diluted (in shares)	54,099,757	52,954,079	51,126,510
Basic net loss per share (in dollars per share)	$ (2.36)	$ (1.72)	$ (0.74)
Diluted net loss per share (in dollars per share)	$ (2.36)	$ (1.72)	$ (0.74)
Class A Common Stock
Numerator
Net loss, basic	$ (118,443)	$ (84,210)	$ (32,724)
Net loss, diluted	$ (118,443)	$ (84,210)	$ (32,724)
Denominator
Weighted-average common shares outstanding - basic (in shares)	50,246,900	49,031,441	44,343,177
Weighted-average common shares outstanding - diluted (in shares)	50,246,900	49,031,441	44,343,177
Basic net loss per share (in dollars per share)	$ (2.36)	$ (1.72)	$ (0.74)
Diluted net loss per share (in dollars per share)	$ (2.36)	$ (1.72)	$ (0.74)
Class B Common Stock
Numerator
Net loss, basic	$ (9,082)	$ (6,737)	$ (5,006)
Net loss, diluted	$ (9,082)	$ (6,737)	$ (5,006)
Denominator
Weighted-average common shares outstanding - basic (in shares)	3,852,857	3,922,638	6,783,333
Weighted-average common shares outstanding - diluted (in shares)	3,852,857	3,922,638	6,783,333
Basic net loss per share (in dollars per share)	$ (2.36)	$ (1.72)	$ (0.74)
Diluted net loss per share (in dollars per share)	$ (2.36)	$ (1.72)	$ (0.74)