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Related-Party Transactions - Additional Information (Details) - USD ($)
$ in Thousands
12 Months Ended
Mar. 22, 2022
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Director        
Related Party Transaction [Line Items]        
Payment to related party upon conversion and cancellation of convertible notes $ 458      
RET        
Related Party Transaction [Line Items]        
Consideration paid to affiliates $ 22,271      
RET | Minimum        
Related Party Transaction [Line Items]        
Percentage of holding of fully diluted shares outstanding 17.00%      
RET | Class A Common Stock | Minimum        
Related Party Transaction [Line Items]        
Percentage of outstanding shares held 3.00%      
Sales and Marketing        
Related Party Transaction [Line Items]        
Related party transaction, selling, general and administrative expenses from transactions with related party   $ 217 $ 810 $ 481
Research and Development        
Related Party Transaction [Line Items]        
Professional fees   $ 20 $ 110 $ 39