Share-based Compensation - Additional Information (Details) $ / shares in Units, $ in Thousands		12 Months Ended
	Jan. 01, 2022	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares	Jul. 15, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Intrinsic value of options exercised		$ 1,416	$ 4,649
Intrinsic value of options outstanding		$ 1,489	$ 17,529
Options outstanding, weighted-average remaining life		5 years 9 months 25 days	6 years 11 months 12 days
Aggregate intrinsic values, vested and exercisable		$ 1,489	$ 14,775
Weighted average remaining contractual term, vested and exercisable		5 years 6 months 7 days	5 years 10 months 20 days
Grant date fair value of options vested		$ 3,958	$ 2,822
Grant date fair value of options granted		$ 91	$ 9,507
Weighted-average grant date fair value of options granted (in dollars per share) | $ / shares		$ 1.14	$ 3.62
Stock options vested and expected to vest (in shares) | shares		8,379,105
Stock options vested and expected to vest, intrinsic value		$ 1,489
Stock options vested and expected to vest, weighted-average exercise price (in dollars per share) | $ / shares		$ 1.74
Stock options vested and expected to vest, weighted-average remaining life		5 years 9 months 25 days
Stock-based compensation expense		$ 12,856	$ 4,259
Aggregated fair value of RSUs vested		$ 5,239
Employee stock purchase plan, average purchase price of shares purchased (in dollars per share) | $ / shares		$ 1.70
Aggregate intrinsic value of shares purchased under employee stock purchase plan		$ 64
Unrecognized stock-based compensation costs related to non-vested options		2,228
Capitalized share-based compensation attributable to internally developed software		$ 36
2014 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Convertible preferred stock, conversion ratio				2.053
2021 Incentive Award Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares authorized for issuance (in shares) | shares		23,794,523,000
Annual increase, percent of outstanding common stock		5.00%
Annual increase period		10 years
Shares of common stock reserved for issuance (in shares) | shares		36,727,626,000
Number of shares available for grant (in shares) | shares		17,487,496
Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		4 years
Stock-based compensation expense		$ 3,448	3,061
Unrecognized share-based compensation cost, period for recognition		1 year 10 months 28 days
Options | Share-based Payment Arrangement, Tranche One
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		1 year
Vesting percentage		25.00%
Options | 2014 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Maximum term		10 years
Options | 2021 Incentive Award Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Maximum term		10 years
Options | Minimum | 2014 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		2 years
Options | Minimum | 2021 Incentive Award Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		2 years
Options | Maximum | 2014 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		4 years
Options | Maximum | 2021 Incentive Award Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		4 years
RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense		$ 8,206	1,198
Aggregated fair value of RSUs granted		$ 18,650	$ 16,685
Vested (in shares) | shares		(1,369,236)	0
Granted (in shares) | shares		7,641,313	4,085,666
Forfeited (in shares) | shares		(3,460,494)	(15,399)
Granted (in dollars per share) | $ / shares		$ 2.45	$ 4.08
Unrecognized share-based compensation cost, period for recognition		2 years 5 months 12 days
Unrecognized stock-based compensation costs related to unvested RSUs		$ 14,433
RSUs | Director
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		1 year
Restricted Stock Units (RSUs), Four Year Vesting Term
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		4 years
Restricted Stock Units (RSUs), Four Year Vesting Term | Share-based Payment Arrangement, Tranche One
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		1 year
Vesting percentage		25.00%
Restricted Stock Units (RSUs), Two Year Vesting Term
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		2 years
Restricted Stock Units (RSUs), Two Year Vesting Term | Share-based Payment Arrangement, Tranche Two
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		1 year
Vesting percentage		50.00%
Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock plan discount	15.00%
Stock plan offering period	6 months
Performance Restricted Stock Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense		$ 428
Aggregated fair value of RSUs granted		$ 4,817
Granted (in shares) | shares		1,854,105
Forfeited (in shares) | shares		(631,579)
Granted (in dollars per share) | $ / shares		$ 2.60
Unrecognized share-based compensation cost, period for recognition		2 years 1 month 2 days
Unrecognized stock-based compensation costs related to unvested RSUs		$ 899