Basic and Diluted Net Loss Per Share - Summary of Computations of Basic Loss Per Share and Diluted Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Earnings Per Share [Abstract]
Net loss	$ (61,174)	$ (94,796)	$ (93,396)
Dilutive effect of convertible notes, net of tax	(18,890)
Adjusted net loss	$ (80,064)	$ (94,796)	$ (93,396)
Weighted-average common stock outstanding - basic	39,680,440	37,962,793	34,581,144
Dilutive potential common shares related to convertible notes	5,903,019
Weighted-average common stock outstanding - diluted	45,583,459	37,962,793	34,581,144
Basic loss per share	$ (1.54)	$ (2.50)	$ (2.70)
Diluted loss per share	$ (1.76)	$ (2.50)	$ (2.70)