Share-Based Compensation Expense - Schedule of stock option award activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Shares
Outstanding, beginning balance (in shares)	9,737,292	10,975,224
Granted (in shares)	43,482	1,232,844
Exercised (in shares)	(2,664,814)	(1,032,819)
Cancelled or forfeited (in shares)	(1,024,689)	(1,437,957)
Outstanding, ending balance (in shares)	6,091,271	9,737,292	10,975,224
Exercisable (in shares)	5,530,330
Weighted Average Exercise Price
Outstanding, beginning balance (in dollars per share)	$ 1.40	$ 0.57
Granted (in dollars per share)	1.95	6.89
Exercised (in dollars per share)	0.24	0.22
Cancelled or forfeited (in dollars per share)	4.42	0.66
Outstanding, ending balance (in dollars per share)	1.39	$ 1.40	$ 0.57
Exercisable (in dollars per share)	$ 1.05
Weighted Average Remaining Contractual Term
Weighted average remaining contractual term	2 years 8 months 12 days	7 years 2 months 12 days	7 years 7 months 6 days
Exercisable, weighted average remaining contractual term	2 years 2 months 12 days