Basic and Diluted Net Loss Per Share - Summary of Computations of Basic Net Loss Per Share and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Earnings Per Share [Abstract]
Net loss	$ (47,305)	$ (61,174)	$ (94,796)
Dilutive effect of convertible notes, net of tax	(9,682)	(18,890)
Adjusted net loss	$ (56,987)	$ (80,064)	$ (94,796)
Weighted-average common stock outstanding - basic	40,668,327	39,680,440	37,962,793
Dilutive potential common shares related to convertible notes	2,954,014	5,903,019
Weighted-average common stock outstanding - diluted	43,622,341	45,583,459	37,962,793
Basic net loss per share	$ (1.16)	$ (1.54)	$ (2.50)
Diluted net loss per share	$ (1.31)	$ (1.76)	$ (2.50)