Capitalization - Convertible Preferred Stock (Details) - USD ($)	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Oct. 31, 2020	May 31, 2020	Dec. 31, 2019
Temporary Equity [Line Items]
Number of Shares Authorized (in shares)	0	86,815,192
Number of Shares Outstanding (in shares)	0	73,914,149	49,084,185			27,160,848
Carrying Value Net of Issuance Costs	$ 0	$ 246,056,000	$ 156,848,000			$ 84,998,000
Aggregate Liquidation Preference	$ 0	$ 271,845,000
Series AA
Temporary Equity [Line Items]
Original Issuance Price (in dollars per share)		$ 0.9867
Number of Shares Authorized (in shares)		3,482,030
Number of Shares Outstanding (in shares)		3,482,030
Carrying Value Net of Issuance Costs		$ 3,435,000
Aggregate Liquidation Preference		$ 3,435,000
Series B
Temporary Equity [Line Items]
Original Issuance Price (in dollars per share)		$ 3.4132
Number of Shares Authorized (in shares)		20,660,715
Number of Shares Outstanding (in shares)		20,660,715
Carrying Value Net of Issuance Costs		$ 70,045,000
Aggregate Liquidation Preference		$ 70,519,000
Series B-1
Temporary Equity [Line Items]
Original Issuance Price (in dollars per share)		$ 3.9760	$ 3.9760	$ 3.9760	$ 3.9760
Number of Shares Authorized (in shares)		49,809,148
Number of Shares Outstanding (in shares)		42,133,496
Carrying Value Net of Issuance Costs		$ 150,553,000
Aggregate Liquidation Preference		$ 167,523,000
Series B-2
Temporary Equity [Line Items]
Original Issuance Price (in dollars per share)		$ 3.9760
Number of Shares Authorized (in shares)		2,515,083
Number of Shares Outstanding (in shares)		412,623
Carrying Value Net of Issuance Costs		$ 1,640,000
Aggregate Liquidation Preference		$ 1,640,000
Junior
Temporary Equity [Line Items]
Original Issuance Price (in dollars per share)		$ 3.9760
Number of Shares Authorized (in shares)		10,348,216
Number of Shares Outstanding (in shares)		7,225,285
Carrying Value Net of Issuance Costs		$ 20,383,000
Aggregate Liquidation Preference		$ 28,728,000