Stock-Based Compensation - Summary of Stock Option Activity (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022 USD ($) $ / shares shares
Number of Shares
Outstanding, beginning balance (in shares) | shares	19,702,845
Granted (in shares) | shares	7,361,072
Exercised (in shares) | shares	(1,906,530)
Forfeited (in shares) | shares	(1,616,193)
Expired (in shares) | shares	0
Outstanding, ending balance (in shares) | shares	23,541,194
Exercisable (in shares) | shares	11,647,109
Vested and expected to vest (in shares) | shares	20,887,358
Weighted Average Exercise Price Per Share
Outstanding, beginning balance (in dollars per share) | $ / shares	$ 5.83
Granted (in dollars per share) | $ / shares	7.13
Exercised (in dollars per share) | $ / shares	2.52
Forfeited (in dollars per share) | $ / shares	6.8
Expired (in dollars per share) | $ / shares	0
Outstanding, ending balance (in dollars per share) | $ / shares	6.44
Exercisable (in dollars per share) | $ / shares	5.57
Vested and expected to vest (in dollars per share) | $ / shares	$ 6.33
Weighted Average Remaining Contractual Life (in years)
Outstanding, Weighted Average Remaining Contractual Life	8 years 2 months 1 day
Exercisable, Weighted Average Remaining Contractual Life	7 years 4 months 28 days
Vested and expected to vest, Weighted Average Remaining Contractual Life	8 years 25 days
Aggregate Intrinsic Value
Outstanding, Aggregate Intrinsic Value | $	$ 368
Exercisable, Aggregate Intrinsic Value | $	368
Vested and expected to vest, Aggregate Intrinsic Value | $	$ 368