Stockholders' Equity (Deficit) and Equity Incentive Plans - Schedule of Stock Based Compensation Expenses (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Total stock-based compensation expense	$ 67,223	$ 34,394	$ 16,553
Cost of Revenue
Class Of Stock [Line Items]
Total stock-based compensation expense	6,468	1,951	590
Research and Development
Class Of Stock [Line Items]
Total stock-based compensation expense	27,855	13,613	5,582
Sales and Marketing
Class Of Stock [Line Items]
Total stock-based compensation expense	17,143	7,871	6,512
General and Administrative
Class Of Stock [Line Items]
Total stock-based compensation expense	$ 15,757	$ 10,959	$ 3,869