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Loss per Share - Summary of Basic and Diluted Loss per Share (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Earnings Per Share [Abstract]      
Net loss $ (131,194) $ (66,816) $ (85,513)
Weighted average shares outstanding, basic 44,919,084 38,638,434 29,256,203
Weighted average shares outstanding, diluted 44,919,084 38,638,434 29,256,203
Basic loss per share allocable to common stockholders $ (2.92) $ (1.73) $ (2.92)
Diluted loss per share allocable to common stockholders $ (2.92) $ (1.73) $ (2.92)