Net Loss per Share - Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Numerator:
Net loss	$ (89,885)	$ (56,240)	$ (22,867)
Denominator:
Weighted-average shares used to compute net loss per share, basic (in shares)	130,517,920	127,163,591	118,698,567
Weighted-average shares used to compute net loss per share, diluted (in shares)	130,517,920	127,163,591	118,698,567
Net loss per share basic (in dollars per share)	$ (0.69)	$ (0.44)	$ (0.19)
Net loss per share diluted (in dollars per share)	$ (0.69)	$ (0.44)	$ (0.19)