Redeemable Convertible Preferred and Common Stock - Narrative (Details)		1 Months Ended								8 Months Ended	12 Months Ended
	Mar. 10, 2021 $ / shares shares	Aug. 31, 2020 USD ($) $ / shares shares	Jul. 31, 2020 USD ($) $ / shares shares	May 31, 2020 USD ($) $ / shares shares	Apr. 30, 2020 USD ($) $ / shares shares	Oct. 31, 2017 USD ($) $ / shares shares	Jul. 31, 2016 USD ($) $ / shares shares	May 31, 2016 USD ($) $ / shares shares	Apr. 30, 2016 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares	Dec. 31, 2020 USD ($) $ / shares shares	Dec. 31, 2018 USD ($) $ / shares shares	Apr. 29, 2022 USD ($)	Mar. 11, 2021 vote $ / shares shares
Class of Stock [Line Items]
Common stock, par value (in dollars per share)										$ 0.0001	$ 0.0001	$ 0.0001				$ 0.0001
Common stock, shares authorized (in shares) | shares										1,000,000,000	1,000,000,000	1,000,000,000
Redeemable convertible preferred stock, par value (in dollars per share)										$ 0.0001	$ 0.0001	$ 0.0001
Redeemable convertible preferred stock, shares authorized (in shares) | shares										100,000,000	100,000,000	100,000,000
Common stock, shares outstanding (in shares) | shares										186,587,986	186,587,986	172,200,417				161,449,205
Warrants outstanding (in shares) | shares																15,999,996
Common stock, voting rights, number of votes per share | vote																1
Redeemable convertible preferred stock, issue price (in dollars per share)																$ 10.00
Proceeds from the issuance of common stock under at-the-market offering, net of commissions and fees | $											$ 16,322,000	$ 0	$ 0
Convertible notes payable | $						$ 4,600,000
Stock issued from conversion of note (in shares) | shares						1,253,556
At the Market Program
Class of Stock [Line Items]
Common stock, par value (in dollars per share)										$ 0.0001	$ 0.0001
Sale of stock, authorized amount | $															$ 150,000,000
Sale of stock, number of shares issued in transaction (in shares) | shares										7,833,709
Redeemable convertible preferred stock, issue price (in dollars per share)										$ 2.08	$ 2.08
Proceeds from issuance of common stock | $										$ 16,800,000
Proceeds from the issuance of common stock under at-the-market offering, net of commissions and fees | $										15,800,000
Sale of stock, remaining authorized amount | $										$ 133,200,000	$ 133,200,000
OTI
Class of Stock [Line Items]
Common stock, par value (in dollars per share)	$ 0.00001
Common stock, shares authorized (in shares) | shares	210,956,516
Common stock and temporary equity, shares authorized (in shares) | shares	342,367,887
Common stock and temporary equity, par value (in dollars per share)	$ 0.00001
Investor
Class of Stock [Line Items]
Redeemable convertible preferred stock, shares issued (in shares) | shares									44,256
Series Seed Redeemable Convertible Preferred Stock
Class of Stock [Line Items]
Redeemable convertible preferred stock, issue price (in dollars per share)							$ 1.02	$ 1.02	$ 1.02
Redeemable convertible preferred stock, shares issued (in shares) | shares							445,942	563,725	1,887,253
Proceeds from issuance of redeemable convertible preferred stock, net off issuance cost | $							$ 500,000	$ 600,000	$ 1,800,000
Issuance cost | $									100,000
Stock issued during period, conversion of convertible securities (in shares) | shares					2,941,176
Redeemable convertible preferred stock dividends (in dollars per share)	0.0612
Liquidation preference (in dollars per share)	1.02
Convertible preferred stock, conversion price (in dollars per share)	1.02
Series Seed Redeemable Convertible Preferred Stock | Investor
Class of Stock [Line Items]
Convertible notes payable | $									$ 45,000
Series A Redeemable Convertible Preferred Stock
Class of Stock [Line Items]
Redeemable convertible preferred stock, issue price (in dollars per share)						$ 11.3158								$ 11.3158
Redeemable convertible preferred stock, shares issued (in shares) | shares						1,324,511								715,712
Proceeds from issuance of redeemable convertible preferred stock, net off issuance cost | $						$ 14,800,000								$ 8,100,000
Issuance cost | $						$ 200,000
Stock issued during period, conversion of convertible securities (in shares) | shares					3,293,779
Redeemable convertible preferred stock dividends (in dollars per share)	0.6789
Liquidation preference (in dollars per share)	11.3518
Convertible preferred stock, conversion price (in dollars per share)	11.3518
Series B Redeemable Convertible Preferred Stock
Class of Stock [Line Items]
Redeemable convertible preferred stock, shares authorized (in shares) | shares													131,411,372
Redeemable convertible preferred stock, issue price (in dollars per share)		$ 0.3323	$ 0.3323	$ 0.3323	$ 0.3323								$ 0.33
Redeemable convertible preferred stock, shares issued (in shares) | shares		25,286,587	37,970,846	17,320,031	45,185,071
Proceeds from issuance of redeemable convertible preferred stock, net off issuance cost | $		$ 8,400,000	$ 12,500,000	$ 5,800,000	$ 15,100,000
Issuance cost | $		$ 100,000	$ 100,000	$ 100,000	$ 100,000
Redeemable convertible preferred stock dividends (in dollars per share)	0.019938
Liquidation preference (in dollars per share)	0.3323
Convertible preferred stock, conversion price (in dollars per share)	$ 0.3323
Convertible preferred stock, terms of conversion, common stock price trigger										$ 1.41	$ 1.41
Convertible preferred stock, conversion term, threshold gross cash proceeds | $										$ 75,000,000	$ 75,000,000
Redeemable Convertible Preferred Stock
Class of Stock [Line Items]
Redeemable convertible preferred stock, shares issued (in shares) | shares												4,232,947	88,434,754
Redeemable Convertible Preferred Stock | OTI
Class of Stock [Line Items]
Redeemable convertible preferred stock, shares authorized (in shares) | shares	131,411,372