Share-based Compensation - Schedule of Common Stock Options Outstanding and related Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Number of Options
Outstanding at beginning of period (in shares)	10,357,495	10,215,834
Granted (in shares)	79,909	2,623,689
Exercised (in shares)	(816,866)	(704,672)
Canceled (in shares)	(1,108,020)	(1,769,796)
Expired (in shares)	(129,433)	(7,560)
Outstanding at end of period (in shares)	8,383,085	10,357,495
Exercisable at end of period	7,356,920	6,712,145
Weighted Average Exercise Price
Outstanding at beginning of period (in dollars per share)	$ 1.87	$ 0.45
Granted (in dollars per share)	1.83	6.30
Exercised (in dollars per share)	0.32	0.63
Canceled (in dollars per share)	3.70	0.75
Expired (in dollars per share)	4.34	0.12
Outstanding at end of period (in dollars per share)	1.74	1.87
Exercisable at end of period (in dollars per share)	$ 1.45	$ 0.73