Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended		3 Months Ended				6 Months Ended
	Aug. 31, 2021	Apr. 30, 2021	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment arrangement, expense			$ 3,276		$ 3,823		$ 6,956	$ 7,346
Unrecognized Compensation Expense Period							1 year 4 months 24 days
Common stock, authorized			500,000,000				500,000,000		500,000,000
Number of Options, Granted			0		0		3,070	175
Outstanding Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment arrangement, expense			$ 369		$ 113		$ 800	$ 228
Vesting of RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment arrangement, expense			2,875		3,403		5,992	6,526
Unrecognized compensation expense			23,257				23,257
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common stock purchased by ESPP				176		75
General and Administrative Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment arrangement, expense			1,929		$ 2,300		4,144	$ 4,403
Zenith
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Options, Granted					844,000			844,000
Zenith | General and Administrative Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment arrangement, expense			$ 0		$ 202		109	$ 401
RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation arrangement, options granted			357	2,241
Share-based compensation arrangement by share-based payment award, equity instruments other than options, grants in period, weighted average grant date fair value			$ 3.31	$ 2.86
Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation expense			$ 4,967				$ 4,967
Unrecognized Compensation Expense Period							5 years 9 months 18 days
2018 Stock Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation by share based arrangement term							10 years
Share based compensation arrangement vesting period							4 years
Amended 2018 Stock Plan | RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation arrangement vesting period		4 years
Share-based compensation arrangement, options granted		1,533,000
Share-based compensation arrangement by share-based payment award, equity instruments other than options, grants in period, weighted average grant date fair value		$ 21.55
Share-based payment arrangement, expense		$ 33,033
2021 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock, authorized			15,500,000				15,500,000
2021 Equity Incentive Plan | RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation arrangement vesting period	4 years
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment arrangement, expense			$ 32		$ 105		$ 55	$ 191
Shares reserved for future issuance			2,000,000				2,000,000
Percentage of shares reserved for future issuance							1.00%
Shares available for sale under ESPP			5,540		3,864		5,540	3,864
Employee Stock Purchase Plan | Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common stock purchased by ESPP			0		0		176	75
Common stock issued			0		0		1,985	1,939
Minimum | 2021 Equity Incentive Plan | RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation arrangement vesting period	1 year
Maximum | 2021 Equity Incentive Plan | RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation arrangement vesting period	3 years
Maximum | Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for future issuance										2,000,000