Consolidated Statements of Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($) $ in Thousands	Total	Initial Public Offering	Follow-on Offering	Series E Preferred Stock	Series D Preferred Stock	Series C Preferred Stock	Series B Preferred Stock	Series A Preferred Stock	Common Stock	Common Stock Initial Public Offering	Common Stock Follow-on Offering	Limited Common Stock	Additional Paid-In Capital	Additional Paid-In Capital Initial Public Offering	Additional Paid-In Capital Follow-on Offering	Accumulated Deficit	Accumulated Other Comprehensive Loss (Income)	Non Controlling Interest
Beginning Balance at Dec. 31, 2018	$ (71,560)								$ 59				$ 8,915			$ (80,525)	$ (9)
Convertible preferred stock, Beginning Balance, Shares at Dec. 31, 2018				53,669,659	39,540,611	47,242,235	29,468,101	134,704,785
Convertible preferred stock, Beginning Balance at Dec. 31, 2018				$ 79,377	$ 22,000	$ 19,844	$ 9,840	$ 30,626
Beginning Balance, Shares at Dec. 31, 2018									5,906,976
Change in unrealized loss on marketable securities	25																25
Issuances of Series E preferred stock, net of issuance costs				$ 29,893
Issuance of Series E preferred stock net of issuance costs, Shares				20,126,118
Issuances of common stock upon stock option exercise	$ 549								$ 2				547
Issuances of common stock upon stock option exercise, Shares	214,845								214,845
Stock-based compensation	$ 2,193												2,193
Contributions by noncontrolling interest	1,151																	$ 1,151
Net loss	(25,681)															(24,571)		(1,110)
Ending Balance at Dec. 31, 2019	(93,323)								$ 61				11,655			(105,096)	16	41
Convertible preferred stock, Ending Balance, Shares at Dec. 31, 2019				73,795,777	39,540,611	47,242,235	29,468,101	134,704,785
Convertible preferred stock, Ending Balance at Dec. 31, 2019				$ 109,270	$ 22,000	$ 19,844	$ 9,840	$ 30,626
Ending Balance, Shares at Dec. 31, 2019									6,121,821
Change in unrealized loss on marketable securities	301																301
Issuances of common stock upon stock option exercise	$ 4,183								$ 14				4,169
Issuances of common stock upon stock option exercise, Shares	1,398,177								1,398,177
Stock-based compensation	$ 10,545												10,545
Issuances of common stock upon public offering, net of issuance costs		$ 209,633	$ 325,600							$ 136	$ 53			$ 209,497	$ 325,547
Issuances of common stock upon public offering, net of issuance costs, Shares										13,664,704	5,250,000
Conversion of convertible preferred stock into common stock	149,824								$ 303				149,521
Conversion of convertible preferred stock into common stock, Shares									30,278,832
Temporary equity, conversion of convertible preferred stock into common stock				$ (109,270)	$ (9,928)			$ (30,626)
Temporary equity, conversion of convertible preferred stock into common stock, Shares				(73,795,777)	(17,844,124)			(134,704,785)
Exchange of convertible preferred stock into limited common stock	41,756											$ 132	41,624
Exchange of convertible preferred stock into limited common stock, Shares												13,164,193
Temporary equity, exchange of convertible preferred stock into limited common stock					$ (12,072)	$ (19,844)	$ (9,840)
Temporary equity, exchange of convertible preferred stock into limited common stock, Shares					(21,696,487)	(47,242,235)	(29,468,101)
Conversion of limited common stock into common stock									$ 40
Conversion of limited common stock into common stock, Shares												(4,000,000)
Conversion of limited common stock into common stock												$ (40)
Conversion of limited common stock into common stock, Shares									4,000,000
Contributions by noncontrolling interest	2,137																	2,137
Net loss	(26,637)															(24,463)		(2,174)
Ending Balance at Dec. 31, 2020	624,019								$ 607			$ 92	752,558			(129,559)	317	4
Ending Balance, Shares at Dec. 31, 2020									60,713,534			9,164,193
Change in unrealized loss on marketable securities	(968)																(968)
Issuances of common stock upon stock option exercise	$ 7,927								$ 11				7,916
Issuances of common stock upon stock option exercise, Shares	1,120,981								1,120,981
Stock-based compensation	$ 26,490												26,490
Contributions by noncontrolling interest	836																	836
Net loss	(101,219)															(100,393)		(826)
Ending Balance at Dec. 31, 2021	$ 557,085								$ 618			$ 92	$ 786,964			$ (229,952)	$ (651)	$ 14
Ending Balance, Shares at Dec. 31, 2021									61,834,515			9,164,193