Consolidated Balance Sheets (Parenthetical) - $ / shares	Dec. 31, 2022	Dec. 31, 2021
Preferred stock, par value (in usd per share)	$ 0.00001	$ 0.00001
Preferred stock, authorized (in shares)	5,000,000
Common stock, authorized (in shares)	105,000,000
Common stock, issued (in shares)	63,411,046	62,015,483
Common stock, outstanding (in shares)	63,411,046	62,015,483
Class A common stock
Preferred stock, authorized (in shares)	5,000,000	5,000,000
Preferred stock, issued (in shares)	0
Preferred stock, outstanding (in shares)	0	0
Common stock, par value (usd per share)	$ 0.00001	$ 0.00001
Common stock, authorized (in shares)	94,000,000	94,000,000
Common stock, issued (in shares)	59,366,077	57,493,005
Common stock, outstanding (in shares)	59,366,077	57,493,005
Class B common stock
Common stock, par value (usd per share)	$ 0.00001	$ 0.00001
Common stock, authorized (in shares)	6,000,000	6,000,000
Common stock, issued (in shares)	4,044,969	4,522,478
Common stock, outstanding (in shares)	4,044,969	4,522,478