Should I audition for Avenue Q?

So, this community theatre is putting on the first community production of Avenue Q in my area, and I really want to be a part of it. I'm a 16 year old girl, do you think there is a place for me in the production? Maybe as a Bad Idea Bear, even? I don't know, maybe I could pull off one of the bigger parts? What are your thoughts? Should I try to audition for something? I'm a soprano.