Consolidated Statements of Redeemable Convertible Preferred Stock and Stockholders’ Equity (Deficit) - USD ($) $ in Thousands	Total	Series E Preferred Stock	Series F Preferred Stock	Common Stock	Additional Paid-In Capital	Accumulated Other Comprehensive Loss	Accumulated Deficit
Redeemable convertible preferred stock, beginning balance (in shares) at Dec. 31, 2019	79,472,483
Redeemable convertible preferred stock, beginning balance at Dec. 31, 2019	$ 155,645
Increase (Decrease) in Temporary Equity [Roll Forward]
Temporary equity, stock issued during period, shares, new issues (in shares)		2,569,043	3,349,812
Temporary equity, stock issued during period, value, new issues		$ 39,948	$ 78,511
Redeemable convertible preferred stock, ending balance (in shares) at Dec. 31, 2020	85,391,338
Redeemable convertible preferred stock, ending balance at Dec. 31, 2020	$ 274,104
Increase (Decrease) in Temporary Equity [Roll Forward]
Stock issuance costs		$ 52	$ 2,320
Beginning balance (in shares) at Dec. 31, 2019				30,619,605
Beginning balance at Dec. 31, 2019	(225,590)			$ 0	$ 75,293	$ 0	$ (300,883)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock-based compensation	32,135				32,135
Exercise of stock options (in shares)				5,007,898
Exercise of stock options	10,383				10,383
Vesting of early exercised stock options	7				7
Cumulative translation adjustment	0
Net loss	(77,620)						(77,620)
Ending balance (in shares) at Dec. 31, 2020				35,627,503
Ending balance at Dec. 31, 2020	$ (260,685)			$ 0	117,818	0	(378,503)
Increase (Decrease) in Temporary Equity [Roll Forward]
Exercise of Series A-1 redeemable convertible preferred stock warrants (in shares)	12,595
Exercise of Series A-1 redeemable convertible preferred stock warrants	$ 163
Conversion of redeemable convertible preferred stock to common stock upon initial public offering (in shares)	(85,403,933)
Conversion of redeemable convertible preferred stock to common stock upon initial public offering	$ (274,267)
Redeemable convertible preferred stock, ending balance (in shares) at Dec. 31, 2021	0
Redeemable convertible preferred stock, ending balance at Dec. 31, 2021	$ 0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Conversion of redeemable convertible preferred stock to common stock upon initial public offering (in shares)				85,403,933
Conversion of redeemable convertible preferred stock to common stock upon initial public offering	274,267			$ 1	274,266
Issuance of common stock in connection with initial public offering, net of issuance costs and underwriting discount (in shares)				15,150,000
Issuance of common stock in connection with initial public offering, net of issuance costs and underwriting discount	408,416				408,416
Stock-based compensation	36,701				36,701
Exercise of stock options (in shares)				2,921,957
Exercise of stock options	11,028				11,028
Vesting of restricted stock units (in shares)				61,300
Cumulative translation adjustment	(1)					(1)
Net loss	(80,026)						(80,026)
Ending balance (in shares) at Dec. 31, 2021				139,164,693
Ending balance at Dec. 31, 2021	$ 389,700			$ 1	848,229	(1)	(458,529)
Redeemable convertible preferred stock, ending balance (in shares) at Dec. 31, 2022	0
Redeemable convertible preferred stock, ending balance at Dec. 31, 2022	$ 0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock-based compensation	87,152				87,152
Exercise of stock options (in shares)				1,569,999
Exercise of stock options	7,004				7,004
Vesting of restricted stock units (in shares)				3,408,672
Vesting of restricted stock units	307				307
Reclassification of stock appreciation rights	62				62
Issuances of common stock under employee stock purchase plan (in shares)				870,422
Issuance of common stock under employee stock purchase plan	9,192				9,192
Other comprehensive loss	(232)					(232)	0
Cumulative translation adjustment	(20)
Net loss	(153,875)						(153,875)
Ending balance (in shares) at Dec. 31, 2022				145,013,786
Ending balance at Dec. 31, 2022	$ 339,310			$ 1	$ 951,946	$ (233)	$ (612,404)