Income Taxes - Schedule of Components of Deferred Tax Assets (Liabilities) (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Deferred income tax assets:
Net operating loss carryforwards	$ 87,872	$ 80,688
Stock-based compensation	4,666	6,827
Accrued expenses	1,417	1,303
Research and development tax credits	6,558	6,558
Operating leases liabilities	3,432	5,457
Intangible assets and goodwill	3,663	2,953
Property, equipment and software	5,323	1,104
Capitalized research and development costs	9,711	8,792
Other	547	652
Gross deferred tax assets	123,189	114,334
Valuation allowance	(120,197)	(109,876)	$ (94,117)	$ (95,042)
Net deferred tax assets	2,992	4,458
Deferred tax liabilities:
Capitalized commissions	(533)	(365)
Operating lease assets	(2,459)	(4,093)
Gross deferred tax liabilities	(2,992)	(4,458)
Total net deferred tax assets (liabilities)	$ 0	$ 0