Condensed Consolidated Statements of Changes in Stockholders’ Equity (Parentheticals) - USD ($) $ in Thousands		3 Months Ended				6 Months Ended
	Feb. 01, 2021	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2021	Mar. 31, 2021	Jun. 30, 2022	Jun. 30, 2021	Dec. 31, 2021	Dec. 31, 2020
Statement of Stockholders' Equity [Abstract]
Offering transaction costs	$ 7,600						$ 7,591
Issuance of Class A common stock from exercise of options and release of restricted stock units		$ 445	$ 773		$ 171
Repurchase of Class A common stock			0	$ 0	0
Vesting of early exercised stock options and restricted common stock		43	44	285	44
Stock-based compensation		8,378	8,062	6,431	6,039
Other comprehensive loss		(886)	(1,691)	(62)	(26)
Net loss		$ (22,815)	(23,646)	(16,616)	(16,429)	$ (46,461)	(33,045)
Total common stock outstanding (in shares)		62,610,179				62,610,179		62,015,483
Stockholders' Equity Attributable to Parent		$ 472,043	$ 486,458	526,044	$ 535,770	$ 472,043	$ 526,044	$ 502,916	$ 431,609
Issuance of Class A common stock from exercise of options and release of restricted stock units				$ 236
Issuance of Class A common stock from exercise of options and release of restricted stock units (in shares)						281,823