Net Loss Per Share - Basic (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Basic and diluted net loss per share attributable to common stockholders
Net loss attributable to common stockholders	$ (80,736)	$ (71,038)	$ (6,553)
Weighted average common shares outstanding, basic (in shares)	79,827,362	76,875,035	76,392,870
Net loss per share, basic (in dollars per share)	$ (1.01)	$ (0.92)	$ (0.09)