CONSOLIDATED STATEMENTS OF CHANGES IN REDEEMABLE CONVERTIBLE PREFERRED STOCK AND STOCKHOLDERS’ EQUITY (DEFICIT) - USD ($) $ in Thousands	Total	Redeemable Convertible Preferred Stock	Common Stock	Additional Paid-in- Capital	Notes receivable from stockholders	Accumulated Deficit	Accumulated other comprehensive loss
Beginning balance (in shares) at Dec. 31, 2019		4,384,348
Beginning balance at Dec. 31, 2019		$ 40,016
Increase (Decrease) in Temporary Equity [Roll Forward]
Issuance of redeemable convertible preferred stock (in shares)		88,434,754
Issuance of redeemable convertible preferred stock		$ 39,225
Conversion of redeemable convertible preferred stock to common stock (in shares)		(4,384,348)
Conversion of redeemable convertible preferred stock to common stock		$ (40,016)
Ending balance (in shares) at Dec. 31, 2020		88,434,754
Ending balance at Dec. 31, 2020		$ 39,225
Beginning balance (in shares) at Dec. 31, 2019			7,902,407
Beginning balance at Dec. 31, 2019	$ (100,319)		$ 0	$ 2,320	$ (44)	$ (102,595)	$ 0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options (in shares)	12,221,364		12,221,363
Issuance of common stock upon exercise of stock options	$ 379			379
Vesting of early exercised stock options	379			379
Stock-based compensation expense	12,057			12,057
Net loss	(106,780)					(106,780)
Conversion of redeemable convertible preferred stock to common stock (in shares)			4,384,348
Conversion of redeemable convertible preferred stock to common stock	40,016			40,016
Issuance of common stock upon vesting of restricted stock awards (in shares)			1,617,264
Issuance of common stock upon exercise of restricted stock awards	6			6
Conversion of convertible notes to common stock (in shares)			7,201,912
Conversion of convertible notes to common stock	78,311			78,311
Reclassification of a note receivable from a stockholder	44				44
Ending balance (in shares) at Dec. 31, 2020			33,327,294
Ending balance at Dec. 31, 2020	$ (75,907)		$ 0	133,468	0	(209,375)	0
Increase (Decrease) in Temporary Equity [Roll Forward]
Issuance of redeemable convertible preferred stock (in shares)		4,232,947
Issuance of redeemable convertible preferred stock		$ 58,097
Conversion of redeemable convertible preferred stock to common stock (in shares)		(92,667,701)
Conversion of redeemable convertible preferred stock to common stock		$ (97,322)
Ending balance (in shares) at Dec. 31, 2021	0
Ending balance at Dec. 31, 2021	$ 0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options (in shares)	2,155,348		2,148,437
Issuance of common stock upon exercise of stock options	$ 526			526
Repurchase of common stock (shares)			(406,845)
Repurchase of common stock	(45)			(45)
Vesting of early exercised stock options	877			877
Net loss	(93,981)					(93,981)
Other comprehensive loss	(6)						(6)
Issuance of common stock upon exercise of warrants (in shares)			100
Issuance of common stock upon exercise of warrants	1			1
Conversion of redeemable convertible preferred stock to common stock (in shares)			92,667,701
Conversion of redeemable convertible preferred stock to common stock	97,322		$ 12	97,310
Issuance of common stock upon merger and private offering, net of acquired private placement warrants of $19,377 (in shares)			34,947,657
Issuance of common stock upon merger and private offering, net of acquired private placement warrants of $19,377	272,065		$ 4	272,061
Offering costs in connection with the merger	(26,620)			(26,620)
Issuance of common stock in connection with acquisition (in shares)			9,163,982
Issuance of common stock in connection with acquisition	60,024		$ 1	60,023
Issuance of replacement equity awards in connection with acquisition	1,081			1,081
Stock-based compensation expense, including vesting of restricted stock units (in shares)			458,012
Stock-based compensation expense, including vesting of restricted stock units	$ 25,363			25,363
Cancellation of previously issued awards			(105,921)
Ending balance (in shares) at Dec. 31, 2021	172,200,417		172,200,417
Ending balance at Dec. 31, 2021	$ 260,700		$ 17	564,045	0	(303,356)	(6)
Ending balance (in shares) at Dec. 31, 2022	0
Ending balance at Dec. 31, 2022	$ 0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Proceeds from at-the-market offering, net of commissions and fees and issuance costs (in shares)			7,833,709
Proceeds from at-the-market offering, net of commissions and fees and issuance costs	$ 15,776		$ 1	15,775
Issuance of common stock upon exercise of stock options (in shares)	2,133,181		2,158,503
Issuance of common stock upon exercise of stock options	$ 470			470
Issuance of common stock upon exercise of restricted stock awards - net of tax withholding (in shares)			4,439,713
Issuance of common stock upon exercise of restricted stock units - net of tax withholding	(58)		$ 1	(59)
Issuance of common stock to employees under employee stock purchase plan (in shares)			322,010
Issuance of common stock to employees under employee stock purchase plan	378			378
Repurchase of common stock (shares)			(311,236)
Repurchase of common stock	(45)			(45)
Cancellation of Sense acquisition shares (in shares)			(55,130)
Cancellation of Sense acquisition shares	(358)			(358)
Vesting of early exercised stock options	138			138
Stock-based compensation expense	33,321			33,321
Net loss	(138,560)					(138,560)
Other comprehensive loss	$ (143)						(143)
Ending balance (in shares) at Dec. 31, 2022	186,587,986		186,587,986
Ending balance at Dec. 31, 2022	$ 171,619		$ 19	$ 613,665	$ 0	$ (441,916)	$ (149)