Stock-Based Compensation - Schedule of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Stock Based Compensation Details [Line Items]
Options Exercised		(131,256)
2021 Plan and 2017 Plan
Stock Based Compensation Details [Line Items]
Options opening balance	24,064,586	17,167,165
Options Granted	3,353,573	9,681,736
Options Exercised	(1,710,471)	(703,512)
Options Forfeited	(648,279)	(2,080,803)
Options ending balance	25,059,409	24,064,586	17,167,165
Options, Vested and expected to vest	25,059,409
Options, Exercisable	20,277,617
Weighted Average Exercise Price, beginning balance	$ 4.23	$ 1.63
Weighted Average Exercise Price, Granted	8.00	8.57
Weighted Average Exercise Price, Exercised	0.56	0.91
Weighted Average Exercise Price, Forfeited	7.60	4.04
Weighted Average Exercise Price, ending balance	4.90	$ 4.23	$ 1.63
Weighted Average Exercise Price, Vested and expected to vest	4.90
Weighted Average Exercise Price, Exercisable	$ 4.15
Weighted Average Contract Term	6 years 1 month 6 days	7 years 4 months 24 days	7 years 3 months 18 days
Weighted Average Contract Term, Vested and expected to vest	6 years 1 month 6 days
Weighted Average Contract Term, Exercisable	5 years 4 months 24 days
Aggregate Intrinsic Value	$ 7,851	$ 56,525	$ 100,633
Aggregate Intrinsic Value, Vested and expected to vest	7,851
Aggregate Intrinsic Value, Exercisable	$ 7,851