Net Loss Per Share Attributable to Common Stockholders - Loss per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Numerator
Net loss	$ (110,393)	$ (144,271)	$ (55,919)
Less: deemed dividend upon redemption of redeemable convertible preferred stock	0	(13,137)	0
Net loss attributable to common stockholders	(110,393)	(157,408)	(55,919)
Net loss attributable to common stockholders	$ (110,393)	$ (157,408)	$ (55,919)
Denominator
Weighted average shares, basic (in shares)	114,942,019	71,249,257	53,033,936
Weighted average shares, diluted (in shares)	114,942,019	71,249,257	53,033,936
Earnings Per Share
Net loss per share attributable to common stockholders, basic (in dollars per share)	$ (0.96)	$ (2.21)	$ (1.05)
Net loss per share attributable to common stockholders, diluted (in dollars per share)	$ (0.96)	$ (2.21)	$ (1.05)