Consolidated Statements of Redeemable Convertible Preferred Stock and Stockholders’ Equity (Deficit) - USD ($) $ in Thousands	Total	Redeemable convertible preferred stock	Common stock	Additional paid-in capital	Accumulated deficit	Accumulated other comprehensive (loss) income	Noncontrolling interest in consolidated subsidiary
Beginning balance (in shares) at Dec. 31, 2020		87,268,694
Beginning balance at Dec. 31, 2020		$ 194,319
Increase (Decrease) in Temporary Equity [Roll Forward]
Conversion of redeemable convertible preferred stock to common stock upon initial public offering (in shares)		(87,268,694)
Conversion of redeemable convertible preferred stock to common stock upon initial public offering		$ (194,319)
Ending balance (in shares) at Dec. 31, 2021		0
Ending balance at Dec. 31, 2021		$ 0
Beginning balance (in shares) at Dec. 31, 2020			31,241,916
Beginning balance at Dec. 31, 2020	$ (16,028)		$ 23	$ 6,491	$ (22,607)	$ 65	$ 0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options (in shares)			1,289,652
Exercise of stock options	644		$ 2	642
Stock-based compensation	6,586			6,586
Noncontrolling interest	317						317
Issuance of common stock upon initial public offering, net of underwriting discounts and commissions and other offering costs (in shares)			13,949,401
Issuance of common stock upon initial public offering, net of underwriting discounts and commissions and other offering costs	215,689		$ 14	215,675
Conversion of redeemable convertible preferred stock to common stock upon initial public offering (in shares)			87,268,694
Conversion of redeemable convertible preferred stock to common stock upon initial public offering	194,318		$ 87	194,231
Unrealized (loss) gain on marketable securities	0
Foreign currency translation adjustment, net of tax	832					832
Net income (loss)	3,027				3,001		26
Net income (loss)	0
Ending balance (in shares) at Dec. 31, 2021			133,749,663
Ending balance at Dec. 31, 2021	$ 405,385		$ 126	423,625	(19,606)	897	343
Ending balance (in shares) at Dec. 31, 2022		0
Ending balance at Dec. 31, 2022		$ 0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options (in shares)	1,224,564
Shares issued in connection with employee stock plans (in shares)			1,632,467
Shares issued in connection with employee stock plans	$ 2,885		$ 9	2,876
Shares of Common Stock withheld related to net share settlement (in shares)			(16,749)
Shares of Common Stock withheld related to net share settlement	(209)			(209)
Stock-based compensation	16,595			16,595
Noncontrolling interest	(92)						(92)
Unrealized (loss) gain on marketable securities	17					17
Foreign currency translation adjustment, net of tax	(1,611)					(1,611)
Net income (loss)	2,576				2,576
Ending balance (in shares) at Dec. 31, 2022			135,365,381
Ending balance at Dec. 31, 2022	$ 425,546		$ 135	442,887	(17,030)	(697)	251
Ending balance (in shares) at Dec. 31, 2023		0
Ending balance at Dec. 31, 2023		$ 0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options (in shares)	1,099,160
Shares issued in connection with employee stock plans (in shares)	296,236		1,723,511
Shares issued in connection with employee stock plans	$ 1,467		$ 2	1,465
Proceeds from Employee Stock Purchase Plan (in shares)			296,236
Proceeds from Employee Stock Purchase Plan	1,855			1,855
Shares of Common Stock withheld related to net share settlement (in shares)			(56,442)
Shares of Common Stock withheld related to net share settlement	(419)			(419)
Repurchase of shares (in shares)			(6,613,780)
Repurchase of shares	(44,471)		$ (6)	(44,465)
Stock-based compensation	22,048			22,048
Noncontrolling interest	(236)			15			(251)
Unrealized (loss) gain on marketable securities	(29)					(29)
Foreign currency translation adjustment, net of tax	(549)					(549)
Net income (loss)	(12,148)				(12,148)
Ending balance (in shares) at Dec. 31, 2023			130,714,906
Ending balance at Dec. 31, 2023	$ 393,064		$ 131	$ 423,386	$ (29,178)	$ (1,275)	$ 0