Since I go on vacation after today let's celebrate freedom with a very very hard one :-) To spice things up I will donate 5$ to doctors without borders when first person nails which episode this is from.
And yes, it is from Futurama :-)
Hint 1: Kiff, Zap, Leela and Amy are shown a lot in this episode.
Is it one of The Scary Door scenes?
Negative. But good guess also due to the spacy theme with the door usually.