Net Loss per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022
Numerator:
Net loss	$ (29,261)	$ (29,569)	$ (28,160)	$ (19,952)	$ (20,532)	$ (18,789)	$ (86,990)	$ (59,273)
Denominator:
Weighted average shares of common stock outstanding, basic	70,807,934			66,675,337			69,452,495	64,718,008
Weighted average shares of common stock outstanding, diluted	70,807,934			66,675,337			69,452,495	64,718,008
Net loss per share, basic	$ (0.41)			$ (0.30)			$ (1.25)	$ (0.92)
Net loss per share, diluted	$ (0.41)			$ (0.30)			$ (1.25)	$ (0.92)