Stock-Based Compensation - Summary of Restricted Stock options (Details) - RSAs and RSUs - 2016 and 2021 Plan	12 Months Ended
	Dec. 31, 2022 $ / shares shares
Number of Shares
Beginning balance (in shares) | shares	3,668,168
Granted (in shares) | shares	1,924,344
Vested (in shares) | shares	(1,777,374)
Forfeited (in shares) | shares	(266,707)
Ending balance (in shares) | shares	3,548,431
Weighted average grant date fair value per share
Beginning balance (in USD per share) | $ / shares	$ 11.65
Granted (in USD per share) | $ / shares	12.59
Vested (in USD per share) | $ / shares	9.35
Forfeited (in USD per share) | $ / shares	29.65
Ending balance (in USD per share) | $ / shares	$ 11.96