Annual report pursuant to Section 13 and 15(d)

Merger with NHIC (Details)

v3.23.1
Merger with NHIC (Details)
$ / shares in Units, $ in Thousands
 12 Months Ended
Jul. 16, 2021
USD ($)
$ / shares
shares
Aug. 04, 2020
shares
Dec. 31, 2022
USD ($)
shares
Dec. 31, 2021
USD ($)
shares
Dec. 31, 2020
shares
Business Acquisition [Line Items]          
Number of shares issued for each unit of common stock (in shares)   1      
Number of warrants issued for each unit (in shares)   0.5      
Issuance of common stock in connection with the closing of the Merger (in shares)     10,391,513    
Earn-out shares issuable upon achieving certain milestones     15,000,000    
Shares cancelled     738,256 198,035  
Number of stock options outstanding (in shares)     20,396,824 20,769,130 18,770,767
Gross proceeds received from Merger | $     $ 0 $ 84,945  
Issuance costs | $     $ 0 34,132  
New Hold Investment Corporation, Inc | NewHold Investment Corp          
Business Acquisition [Line Items]          
Ownership percentage 7.30%        
NewHold Investment Corp          
Business Acquisition [Line Items]          
Goodwill | $ $ 0        
Number of shares 94,192,534        
Exchange ratio 0.378        
Shares cancelled 57,938,375        
Number of stock options outstanding (in shares) 21,891,254        
Gross proceeds received from Merger | $ $ 84,900        
Percentage owned by shareholders 92.70%        
Payments of financing costs | $       36,100  
Issuance costs | $       $ 700  
Subscription Agreements          
Business Acquisition [Line Items]          
Earn-out shares issuable upon achieving certain milestones     15,000,000    
Issuance of common stock in connection with the consummation of the PIPE Investment (in shares) 30,000,000        
Purchase price of share | $ / shares $ 10.00        
Received gross proceeds from PIPE investment | $ $ 300,000        
Series A-1 Preferred Stock          
Business Acquisition [Line Items]          
Common stock issuable upon conversion (in shares) 24,359,107        
Conversion ratio 1   1    
Series A Preferred Stock          
Business Acquisition [Line Items]          
Common stock issuable upon conversion (in shares) 3,484,240        
Conversion ratio 2   2    
Series B-1 Preferred Stock          
Business Acquisition [Line Items]          
Common stock issuable upon conversion (in shares) 34,129,398        
Conversion ratio 1   1    
Series B Preferred Stock          
Business Acquisition [Line Items]          
Common stock issuable upon conversion (in shares) 15,367,312        
Conversion ratio 1   1