Annual report pursuant to Section 13 and 15(d)

Fair Value Measurements and Fair Value of Financial Instruments - Schedule of Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation (Details)

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Fair Value Measurements and Fair Value of Financial Instruments - Schedule of Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Fair Value, Net Derivative Asset (Liability) Measured on Recurring Basis, Unobservable Input Reconciliation [Roll Forward]      
Fair value recurring basis unobservable input reconciliation liability gain loss statement of income extensible list not disclosed flag true    
Level 3 | Structural Derivative Liability      
Fair Value, Net Derivative Asset (Liability) Measured on Recurring Basis, Unobservable Input Reconciliation [Roll Forward]      
Balance at December 31, 2021 $ 0    
Assumption 7,100    
Issuances 7,050    
Changes in fair value 0    
Balance at December 31, 2022 7,050 $ 0  
Additional Shares | Level 3      
Fair Value, Net Derivative Asset (Liability) Measured on Recurring Basis, Unobservable Input Reconciliation [Roll Forward]      
Balance at December 31, 2021 0    
Balance at December 31, 2022 580 0  
Backstop Additional Shares | Level 3      
Fair Value, Net Derivative Asset (Liability) Measured on Recurring Basis, Unobservable Input Reconciliation [Roll Forward]      
Assumption 15,340    
Changes in fair value 970    
Settlement of Backstop Additional Shares liability (16,310)    
HGI Additional Shares | Level 3      
Fair Value, Net Derivative Asset (Liability) Measured on Recurring Basis, Unobservable Input Reconciliation [Roll Forward]      
Assumption 800    
Issuances 823    
Changes in fair value (243)    
Earn-Out Shares | Level 3      
Fair Value, Net Derivative Asset (Liability) Measured on Recurring Basis, Unobservable Input Reconciliation [Roll Forward]      
Balance at December 31, 2021 0    
Assumption 70,481    
Changes in fair value (66,359)    
Balance at December 31, 2022 4,122 0  
Convertible preferred stock warrant liability      
Fair Value, Net Derivative Asset (Liability) Measured on Recurring Basis, Unobservable Input Reconciliation [Roll Forward]      
Changes in fair value (1,600) 1,200 $ 1,000
Convertible preferred stock warrant liability | Level 3      
Fair Value, Net Derivative Asset (Liability) Measured on Recurring Basis, Unobservable Input Reconciliation [Roll Forward]      
Balance at December 31, 2021 4,787    
Changes in fair value (1,616)    
Net exercise of preferred stock warrants (989)    
Balance at December 31, 2022 0 $ 4,787  
Convertible preferred stock warrant liability | Level 3 | Previously Reported      
Fair Value, Net Derivative Asset (Liability) Measured on Recurring Basis, Unobservable Input Reconciliation [Roll Forward]      
Balance at December 31, 2022 2,182    
Convertible preferred stock warrant liability | Level 3 | Recapitalization      
Fair Value, Net Derivative Asset (Liability) Measured on Recurring Basis, Unobservable Input Reconciliation [Roll Forward]      
Balance at December 31, 2022 $ (2,182)