Stock-Based Compensation - Schedule of Stock Option Activity (Details) - 2021 Plan and 2017 Plan $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Stock Based Compensation Details [Line Items]
Options opening balance | shares	25,059,409
Options Granted | shares	2,222,224
Options Exercised | shares	(1,086,371)
Options Forfeited | shares	(717,370)
Options ending balance | shares	25,477,892	25,059,409
Options, Vested and expected to vest | shares	25,477,892
Options, Exercisable | shares	20,452,090
Weighted average exercise price, beginning balance | $ / shares	$ 4.90
Weighted average exercise price, Granted | $ / shares	0.75
Weighted average exercise price, Exercised | $ / shares	0.28
Weighted average exercise price, Forfeited | $ / shares	6.32
Weighted average exercise price, ending balance | $ / shares	4.65	$ 4.90
Weighted average exercise price, Vested and expected to vest | $ / shares	4.65
Weighted average exercise price, Exercisable | $ / shares	$ 4.55
Weighted average contract term	6 years 1 month 6 days	6 years 1 month 6 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 | $	$ 1,690	$ 7,851
Aggregate Intrinsic Value, Vested and expected to vest | $	1,690
Aggregate Intrinsic Value, Exercisable | $	$ 1,690