Net Loss per Share - Schedule of Potential Common Shares Excluded from the Computation of Diluted Net Loss Per Share Attributable to Common Stockholders (Details) - shares shares in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Options to Purchase Common Stock
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Potential common shares excluded from computation of diluted net loss per share	6,264	7,110	6,264	7,110
Unvested Restricted Stock Units
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Potential common shares excluded from computation of diluted net loss per share	7,113	5,108	7,113	5,108
Unvested Performance-Based Stock Units
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Potential common shares excluded from computation of diluted net loss per share	24	1,262	24	1,262