Stock Incentive Plans - Summary of RSU Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of Options, Outstanding at Beginning Balance	9,865,734
RSU Granted	3,188,150
Number of Options, Outstanding at Ending Balance	9,551,041	9,865,734
Weighted-Average Grant Date Fair Value, Granted	$ 1.01	$ 1.68
RSU Member
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of Options, Outstanding at Beginning Balance	543,179
RSU Granted	483,850
RSU Vested	(373,519)
RSU Forfeited	(312,171)
Number of Options, Outstanding at Ending Balance	341,339	543,179
Weighted-Average Grant Date Fair Value, Outstanding, Beginning Balance	$ 6.12
Weighted-Average Grant Date Fair Value, Granted	1.6
Weighted-Average Grant Date Fair Value, Vested	4.86
Weighted-Average Grant Date Fair Value, Forfeited	2.59
Weighted-Average Grant Date Fair Value, Outstanding, Ending Balance	$ 2.95	$ 6.12