Income Taxes - Schedule of Deferred Income Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Deferred tax assets:
NOL carryforwards	$ 107,341	$ 103,028	$ 23,493
Credit Carryforwards	15,876	9,742	5,199
Stock-based compensation	7,124	3,456	1,061
Accruals and reserves	544	533	326
Operating lease liability	2,806	0	0
Fixed assets	0	0	73
Capitalized research and development costs	14,674	0	0
Intangibles	145	0	168
Accumulated other comprehensive loss	190	0	0
Other	167	44	37
Gross tax assets	148,867	116,803	30,357
Valuation allowance	(139,291)	(110,720)	(26,286)
Realizable deferred tax assets	9,576	6,083	4,071
Deferred tax liabilities:
Deferred commission costs	(8,962)	(6,881)	(4,727)
Internal use software	0	(643)	(277)
Operating lease right-of-use assets	(2,428)	0	0
Fixed assets	(22)	(1)	0
Intangibles	0	(303)	(14)
Other	0	0	(1)
Gross deferred liabilities	(11,412)	(7,828)	(5,019)
Net deferred tax assets (liabilities)	$ (1,836)	$ (1,745)	$ (948)