Revision for Immaterial Misstatements - Narrative (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Accumulated deficit	$ (478,867)	$ (378,751)
Total stockholders' equity	$ 59,390	167,053	$ 298,034	$ (30,567)
Revision of Prior Period, Adjustment
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Accumulated deficit		(4,423)	(4,300)
Total stockholders' equity		(4,423)
Previously reported
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Accumulated deficit		(374,328)
Total stockholders' equity		$ 171,476	$ 302,300