Stock-Based Compensation - Summary of Stock Option Activity for Awards (Details) - USD ($) $ / shares in Units, $ in Thousands		12 Months Ended
		Dec. 31, 2023	Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]
Number of shares, Outstanding balance		8,274,647
Number of shares, Granted		1,599,227	3,459,500
Number of shares, Exercised		(145,877)
Number of shares, Forfeitures	[1]	(1,449,164)
Number of shares, Expired	[1]	(1,800,770)
Number of shares, Outstanding balance		6,478,063	8,274,647
Number of shares, Exercisable as of December 31, 2023		4,034,517
Weighted average exercise price, Outstanding balance		$ 18.28
Weighted average exercise price, Granted		9.32
Weighted average exercise price, Exercised		2.55
Weighted average exercise price, Forfeitures	[1]	28.00
Weighted average exercise price, Expired	[1]	34.88
Weighted average exercise price, Outstanding balance		9.64	$ 18.28
Weighted average exercise price, Exercisable as of December 31, 2023		$ 8.88
Weighted average remaining contractual life, Outstanding		6 years 10 months 24 days	7 years 7 months 6 days
Weighted average remaining contractual life, Exercisable		5 years 8 months 12 days
Aggregate intrinsic value, Outstanding value	[2]	$ 8,435	$ 20,598
Aggregate intrinsic value, Exercisable as of December 31, 2023	[2]	$ 8,439

[1] Options exchanged are classified as either forfeitures or expired based on vesting status at the time of Exchange Offer.

[2] The aggregate intrinsic value is calculated as the difference between the exercise price of the underlying options and the fair value of the common stock for the options that were in the money at December 31, 2023 and 2022.