Net Loss Per Share - Computation of Basic and Diluted Net Loss per Share Attributable to Common Stockholders (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Numerator:
Net loss used to compute net loss per share - basic	$ (133,933)	$ (156,559)	$ (106,606)
Net loss used to compute net loss per share - diluted	$ (133,933)	$ (156,559)	$ (106,606)
Denominator:
Weighted average shares outstanding used to compute net loss used to compute net loss per share - diluted (in shares)	96,057,000	97,351,000	93,885,000
Weighted average shares outstanding used to compute net loss used to compute net loss per share - basic (in shares)	96,057,000	97,351,000	93,885,000
Net loss per share - basic (in dollars per share)	$ (1.39)	$ (1.61)	$ (1.14)
Net loss per share - diluted (in dollars per share)	$ (1.39)	$ (1.61)	$ (1.14)