Net Loss Per Share - Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Numerator [Abstract]
Net loss attributable to common stockholders	$ (245,595)	$ (221,863)	$ (169,069)
Denominator [Abstract]
Weighted-average common shares outstanding - basic (in shares)	84,009,004	68,148,925	63,235,417
Weighted-average common shares outstanding - diluted (in shares)	84,009,004	68,148,925	63,235,417
Net loss per share attributable to common stockholders - basic (in dollars per share)	$ (2.92)	$ (3.26)	$ (2.67)
Net loss per share attributable to common stockholders - diluted (in dollars per share)	$ (2.92)	$ (3.26)	$ (2.67)