v3.23.1
Capital Stock and Warrants - Common stock reserved for future issuance (Details) - shares
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Capital Stock and Warrants      
Stock options to purchase common stock 10,081,915 8,799,415 7,056,000
Warrants outstanding for future issuance of convertible preferred stock and common stock 7,013,046    
Stock options available for future issuance 3,538,268 216,003 1,963,814
2022 Convertible Notes 5,189,351    
Total shares of common stock reserved 37,174,421    
Series A Preferred Stock (convertible to Class B Common Stock)      
Capital Stock and Warrants      
Preferred stock reserved for future issuance 3,086,160    
Series B Preferred Stock (convertible to Class B Common Stock)      
Capital Stock and Warrants      
Preferred stock reserved for future issuance 3,535,621    
Series m Preferred Stock (convertible to Class A Common Stock)      
Capital Stock and Warrants      
Preferred stock reserved for future issuance 1,855,328    
Series m-2 Preferred Stock (convertible to Class B Common Stock)      
Capital Stock and Warrants      
Preferred stock reserved for future issuance 160,000    
Series S Preferred Stock (convertible to Class A Common Stock)      
Capital Stock and Warrants      
Preferred stock reserved for future issuance 2,714,732