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Stock-Based Compensation - Narrative (Details) - USD ($)
1 Months Ended 3 Months Ended
Feb. 28, 2023
Jan. 01, 2023
Jul. 28, 2020
Jul. 31, 2020
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Stock-based compensation         $ 2,796,000 $ 932,000    
Expected dividend yield         0.00% 0.00%    
Weighted-average grant date fair value of options granted (in dollars per share)         $ 4.93 $ 6.32    
Tax benefit         $ 0 $ 0    
Aggregate intrinsic value of options outstanding         42,633,000   $ 32,721,000  
Aggregate intrinsic value of options exercised         708,000 2,154,000    
Aggregate intrinsic value of options exercisable         $ 37,161,000   $ 27,919,000  
Vested (in shares)         103,521      
Class A Common Stock                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Issuance of shares in connection with ESPP (in shares) 38,879              
Restricted stock units                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Awards granted (in shares)         523,294      
Vested (in shares)         71,557      
Performance stock units                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Award vesting period         4 years      
Stock-based compensation         $ 24,000      
Expected dividend yield         0.00%      
Awards granted (in shares)         0      
Vested (in shares)         0      
Restricted stock outstanding                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Awards granted (in shares)     156,852          
Fair value of awards granted     $ 291,000          
Service period     3 years          
ESPP                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Number of shares reserved and authorized (in shares)         3,000,667      
Percent of outstanding shares         1.00%      
Stock-based compensation         $ 33,000 $ 81,000    
2019 Plan                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Number of shares reserved and authorized (in shares)       10,163,772       8,682,600
Award vesting period       4 years        
Award expiration period       10 years        
Unrecognized compensation cost on stock options         $ 1,119,000      
2021 Plan                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Number of shares reserved and authorized (in shares)   17,003,001     13,503,001      
Percent of outstanding shares         5.00%      
Number of additional shares authorized   3,500,000            
Unrecognized compensation cost on stock options         $ 13,575,000      
2021 Plan | Stock options                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Unrecognized compensation cost, period of recognition         3 years 2 months 23 days 1 year 6 months 10 days    
2021 Plan | Restricted stock units                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Unrecognized compensation cost, period of recognition         3 years 2 months 1 day      
Unrecognized compensation cost, other than options         $ 15,334,000      
2021 Plan | Restricted stock units | Employee                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Stock-based compensation         $ 1,191,000 $ 315,000    
Awards granted (in shares)         523,294 937,506    
2021 Plan | Performance stock units | Employee                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Awards granted (in shares)         500,887