Common Stock - Summary of Common Stock Issued and Reserved for Issuance (Details) - shares shares in Thousands	Mar. 31, 2023	Dec. 31, 2022
Stockholders Deficit [Line Items]
Shares of common stock issued	28,465	27,268
Shares of common stock reserved for issuance for:
Total shares of common stock issued and reserved for issuance	36,044	34,734
Common stock warrants
Shares of common stock reserved for issuance for:
Shares of common stock reserved for issuance	61	61
Stock options
Shares of common stock reserved for issuance for:
Shares of common stock reserved for issuance	1,291	1,301
Restricted Stock Units and Awards Outstanding
Shares of common stock reserved for issuance for:
Shares of common stock reserved for issuance	3,648	3,901
Shares available for grant under stock incentive plans
Shares of common stock reserved for issuance for:
Shares of common stock reserved for issuance	1,244	1,140
Shares available for sale under employee stock purchase plan
Shares of common stock reserved for issuance for:
Shares of common stock reserved for issuance	1,335	1,063