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Stock-Based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 6 Months Ended
Feb. 28, 2023
Jan. 01, 2023
Mar. 15, 2021
Jul. 28, 2020
Jul. 31, 2020
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Stock-based compensation           $ 3,765 $ 2,204 $ 6,561 $ 3,136    
Dividend yield (as a percent)               0.00%      
Weighted-average grant date fair value of options granted (in dollars per share)           $ 5.84 $ 6.22 $ 5.56 $ 6.31    
Tax benefit           $ (10) $ 0 $ 43 $ 0    
Aggregate intrinsic value of options outstanding           34,440   34,440   $ 32,721  
Aggregate intrinsic value of options exercised           4,694 $ 1,231 5,402 $ 3,386    
Aggregate intrinsic value of options exercisable           $ 31,352   $ 31,352   $ 27,919  
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                    
Stock options                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Dividend yield (as a percent)           0.00% 0.00% 0.00% 0.00%    
Restricted stock units                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Awards granted (in shares)               1,840,417      
Vested (in shares)               331,251      
Performance Shares                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Award vesting period               4 years      
Stock-based compensation           $ 26 $ 134 $ 50 $ 140    
Dividend yield (as a percent)           0.00%   0.00%      
Awards granted (in shares)               0      
Vested (in shares)               5,226      
Restricted stock                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Awards granted (in shares)       156,852              
Fair value of awards granted       $ 291              
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   3,000,667      
Percent of outstanding shares               1.00%      
Stock-based compensation           $ 0 41 $ 33 122    
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           852   $ 852      
2019 Plan | Stock options                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Unrecognized compensation cost, period of recognition               1 year 4 months 24 days      
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 (in shares)   3,500,000                  
Unrecognized compensation cost on stock options           21,130   $ 21,130      
2021 Plan | Stock options                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Unrecognized compensation cost, period of recognition               3 years 4 months 9 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 29 days      
Unrecognized compensation cost, other than options           24,396   $ 24,396      
2021 Plan | Restricted stock units | Employee                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Stock-based compensation           $ 2,050 $ 913 $ 3,241 $ 1,191    
Awards granted (in shares)           1,317,123 799,487 1,840,417 989,929    
2021 Plan | Performance Shares | Employee                      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                      
Awards granted (in shares)           0 894,709 0 1,395,596