Stockholders' Equity - Summary of Stock Option Activity (Details) shares in Thousands	6 Months Ended
	Jun. 30, 2023 $ / shares shares	Dec. 31, 2022 $ / shares
Number of Options
Beginning balance (in shares)	9,352
Granted (in shares)	2,032
Exercised (in shares)	(114)
Forfeited/expired (in shares)	(292)
Ending balance (in shares)	10,978
Weighted- Average Exercise Price Per Share
Outstanding (in dollars per share) | $ / shares	$ 16.35	$ 15.28
Granted (in dollars per share) | $ / shares	21.12
Exercised (in dollars per share) | $ / shares	4.60
Forfeited/expired (in dollars per share) | $ / shares	$ 19.74