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Equity Incentive Plan - 2019 Employee Stock Purchase Plan (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock-based compensation expense $ 3,884 $ 3,853 $ 13,708 $ 12,135
Class A common stock | 2019 Employee Stock Purchase Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock-based compensation expense $ 200 $ 200 $ 700 $ 600
Expected dividend     0.00% 0.00%