Stock-Based Compensation - Schedule of Stock Options Activities (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Options, Outstanding beginning balance	10,767,799
Weighted Average Exercise Price, Outstanding beginning balance	$ 0.83
Weighted Average Remaining Contractual Term	5 years 9 months 3 days	5 years 10 months 13 days
Options, Granted	0
Weighted Average Exercise Price, Granted	$ 0
Options, Exercised	(2,972,581)
Weighted Average Exercise Price, Excercised	$ 0.08
Options, Cancelled or forfeited	(24,797)
Weighted Average Exercise Price, Cancelled or forfeited	$ 3.35
Options, Outstanding ending balance	7,770,421	10,767,799
Weighted Average Exercise Price, Outstanding ending balance	$ 1.11	$ 0.83
Options, Exercisable	5,960,866
Weighted Average Exercise Price, Exercisable	$ 0.9
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term	5 years 7 months 2 days
Options, Vested and expected to vest	6,391,004
Weighted Average Exercise Price, Vested and expected to vest	$ 1.24
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Vested and Expected to Vest, Exercisable, Weighted Average Remaining Contractual Term	5 years 7 months 28 days
Aggregate Intrinsic Value, Outstanding	$ 38,262,071	$ 42,994,264
Aggregate Intrinsic Value, Options exercisable as of December 31, 20223	(30,552,352)
Aggregate Intrinsic Value, vested and expected to vest at December 31,2023	$ 30,639,437
Employee Stock Option [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Options, Outstanding beginning balance	3,697,649
Weighted Average Exercise Price, Outstanding beginning balance	$ 9.71
Weighted Average Remaining Contractual Term	8 years 3 months 14 days	9 years 25 days
Options, Granted	288,300
Weighted Average Exercise Price, Granted	$ 5.28
Options, Exercised	0
Weighted Average Exercise Price, Excercised	$ 0
Options, Cancelled or forfeited	(672,869)
Weighted Average Exercise Price, Cancelled or forfeited	$ 9.26
Options, Outstanding ending balance	3,313,080	3,697,649
Weighted Average Exercise Price, Outstanding ending balance	$ 9.27	$ 9.71
Options, Exercisable	1,583,171
Weighted Average Exercise Price, Exercisable	$ 9.75
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term	7 years 8 months 12 days
Options, Vested and expected to vest	3,313,080
Weighted Average Exercise Price, Vested and expected to vest	$ 9.27
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Vested and Expected to Vest, Exercisable, Weighted Average Remaining Contractual Term	8 years 3 months 14 days
Aggregate Intrinsic Value, Outstanding	$ (10,726,391)	$ (18,077,872)
Aggregate Intrinsic Value, Options exercisable as of December 31, 20223	(5,883,276)
Aggregate Intrinsic Value, vested and expected to vest at December 31,2023	$ (10,726,391)
Two Thousand Twenty Equity Incentive Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Options, Granted	10,800,000
Two Thousand Twenty Equity Incentive Plan | Employee Stock Option [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Options, Outstanding ending balance	3,313,080