Convertible Preferred Stock and Stockholders' Equity (Details 6) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Class Of Stock [Line Items]
Balance	$ 483,939	$ 678,838
Exercise of stock options, net of issuance costs	222	3,001
Issuance of common stock upon vesting of restricted stock units	1	1
Stock-based compensation	10,983	19,331
Unrealized gain (loss) on investments	1,208	(2,088)
Net loss	(18,881)	(65,690)
Balance	$ 477,472	$ 633,393
Class A Convertible Preferred Shares
Class Of Stock [Line Items]
Balance (in shares)	2,794,549	2,794,549
Net loss	$ 18,900
Balance (in shares)	2,794,549	2,794,549
Preferred Stock | Class A Convertible Preferred Shares
Class Of Stock [Line Items]
Balance	$ 3	$ 3
Balance	3	3
Common Stock
Class Of Stock [Line Items]
Balance	$ 97	$ 96
Balance (in shares)	97,294,917	95,726,962
Exercise of stock options, net of issuance costs (in shares)	68,847	398,415
Issuance of common stock upon vesting of restricted stock units	$ 1	$ 1
Issuance of common stock upon vesting of restricted stock units (in shares)	827,251	412,707
Balance	$ 98	$ 97
Balance (in shares)	98,191,015	96,538,084
Additional Paid In Capital
Class Of Stock [Line Items]
Balance	$ 1,536,497	$ 1,448,584
Exercise of stock options, net of issuance costs	222	3,001
Stock-based compensation	10,983	19,331
Balance	1,547,702	1,470,916
Accumulated Other Comprehensive Gain (Loss)
Class Of Stock [Line Items]
Balance	(1,854)	(762)
Unrealized gain (loss) on investments	1,208	(2,088)
Balance	(646)	(2,850)
Accumulated Deficit
Class Of Stock [Line Items]
Balance	(1,050,804)	(769,083)
Net loss	(18,881)	(65,690)
Balance	$ (1,069,685)	$ (834,773)