Stockholders' Equity - Summary of Stock Option Activity (Details) shares in Thousands	9 Months Ended
	Sep. 30, 2023 $ / shares shares	Dec. 31, 2022 $ / shares
Number of Options
Beginning balance (in shares)	9,352
Granted (in shares)	3,885
Exercised (in shares)	(145)
Forfeited/expired (in shares)	(566)
Ending balance (in shares)	12,526
Weighted- Average Exercise Price Per Share
Outstanding (in dollars per share) | $ / shares	$ 15.08	$ 15.28
Granted (in dollars per share) | $ / shares	14.77
Exercised (in dollars per share) | $ / shares	3.88
Forfeited/expired (in dollars per share) | $ / shares	$ 19.19