Common Stock and Convertible Preferred Stock - Schedule of convertible preferred stock (Details) $ in Thousands	Dec. 31, 2022 USD ($) shares
Class of Stock [Line Items]
Shares Authorized | shares	47,484,662
Shares Issued and Outstanding | shares	46,467,563
Carrying Value | $	$ 87,140
Aggregate Liquidation Preference | $	$ 129,056
Series E
Class of Stock [Line Items]
Shares Authorized | shares	8,601,120
Shares Issued and Outstanding | shares	7,832,394
Carrying Value | $	$ 40,770
Aggregate Liquidation Preference | $	$ 44,108
Series D
Class of Stock [Line Items]
Shares Authorized | shares	11,513,253
Shares Issued and Outstanding | shares	11,513,253
Carrying Value | $	$ 22,192
Aggregate Liquidation Preference | $	$ 28,943
Series C-1
Class of Stock [Line Items]
Shares Authorized | shares	9,020,682
Shares Issued and Outstanding | shares	9,020,682
Carrying Value | $	$ 2,180
Aggregate Liquidation Preference | $	$ 18,000
Series C
Class of Stock [Line Items]
Shares Authorized | shares	6,318,524
Shares Issued and Outstanding | shares	6,070,151
Carrying Value | $	$ 11,647
Aggregate Liquidation Preference | $	$ 13,442
Series B-4
Class of Stock [Line Items]
Shares Authorized | shares	7,172,501
Shares Issued and Outstanding | shares	7,172,501
Carrying Value | $	$ 7,582
Aggregate Liquidation Preference | $	$ 11,199
Series B-3
Class of Stock [Line Items]
Shares Authorized | shares	1,546,441
Shares Issued and Outstanding | shares	1,546,441
Carrying Value | $	$ 862
Aggregate Liquidation Preference | $	$ 2,620
Series B-2
Class of Stock [Line Items]
Shares Authorized | shares	174,208
Shares Issued and Outstanding | shares	174,208
Carrying Value | $	$ 105
Aggregate Liquidation Preference | $	$ 340
Series B-1
Class of Stock [Line Items]
Shares Authorized | shares	1,863,215
Shares Issued and Outstanding | shares	1,863,215
Carrying Value | $	$ 611
Aggregate Liquidation Preference | $	$ 2,918
Series A-4
Class of Stock [Line Items]
Shares Authorized | shares	570,976
Shares Issued and Outstanding | shares	570,976
Carrying Value | $	$ 661
Aggregate Liquidation Preference | $	$ 4,182
Series A-3
Class of Stock [Line Items]
Shares Authorized | shares	466,245
Shares Issued and Outstanding | shares	466,245
Carrying Value | $	$ 260
Aggregate Liquidation Preference | $	$ 1,604
Series A-2
Class of Stock [Line Items]
Shares Authorized | shares	149,281
Shares Issued and Outstanding | shares	149,281
Carrying Value | $	$ 160
Aggregate Liquidation Preference | $	$ 1,021
Series A-1
Class of Stock [Line Items]
Shares Authorized | shares	88,216
Shares Issued and Outstanding | shares	88,216
Carrying Value | $	$ 110
Aggregate Liquidation Preference | $	$ 679