On straightening for Segal spaces

The straightening–unstraightening correspondence of Grothendieck–Lurie provides an equivalence between cocartesian fibrations between $(\infty, 1)$-categories and diagrams of $(\infty, 1)$-categories. We provide an alternative proof of this correspondence, as well as an extension of straightening–unstraightening to all higher categorical dimensions. This is based on an explicit combinatorial result relating two types of fibrations between double categories, which can be applied inductively to construct the straightening of a cocartesian fibration between higher categories.