Net Loss per Share - Summary of Basic and Diluted Net Loss Per Share of Common Stock (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Numerator:
Net loss	$ (25,915)	$ (44,999)
Denominator:
Weighted-average common shares outstanding, basic (in Shares)	59,888,119	57,724,821
Weighted-average common shares outstanding, diluted (in Shares)	59,888,119	57,724,821
Net loss per share, basic (in dollars per share)	$ (0.43)	$ (0.78)
Net loss per share, diluted (in dollars per share)	$ (0.43)	$ (0.78)