Organization and Significant Accounting Policies - Schedule of Prior-year Adjustment - Consolidated Statements of Stockholders' Equity (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Foreign currency translation adjustments	$ 2,471	$ (4,758)	$ (7,240)
Net loss	(186,638)	(151,293)	(143,032)
Accumulated other comprehensive loss	(8,323)	(10,794)	(6,036)
Accumulated deficit	(1,118,962)	(932,324)	(781,031)
Total stockholders' (deficit) equity	$ 78,116	(34,667)	80,674	$ 129,880
As Reported
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Foreign currency translation adjustments		(4,696)	(7,198)
Net loss		(152,149)	(144,326)
Accumulated other comprehensive loss		(10,690)	(5,994)
Accumulated deficit		(934,474)	(782,325)
Total stockholders' (deficit) equity		(36,713)	79,422
Adjustment
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Foreign currency translation adjustments		(62)	(42)
Net loss		856	1,294
Accumulated other comprehensive loss		(104)	(42)
Accumulated deficit		2,150	1,294
Total stockholders' (deficit) equity		$ 2,046	$ 1,252