Organization and Significant Accounting Policies - Schedule of Prior-period Adjustment - Condensed Consolidated Statements of Stockholders' Equity (Details) - USD ($) $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022	Dec. 31, 2021
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Foreign currency translation adjustments	$ (2,600)	$ 178	$ 1,105	$ (4,958)	$ (5,388)	$ (1,204)	$ (1,317)	$ (11,550)
Net loss	(42,654)	(51,377)	(43,529)	(36,793)	(37,101)	(42,616)	(137,560)	(116,510)
Accumulated other comprehensive loss	(12,111)			(17,586)	(12,628)	(7,240)	(12,111)	(17,586)	$ (10,794)	$ (6,036)
Accumulated deficit	(1,069,884)			(897,541)	(860,748)	(823,647)	(1,069,884)	(897,541)	(932,324)	(781,031)
Total stockholders' equity (deficit)	$ (44,161)	$ (28,153)	$ (58,362)	(20,894)	12,115	43,440	$ (44,161)	(20,894)	(34,667)	80,674
As Reported
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Foreign currency translation adjustments				(4,851)	(5,289)	(1,180)		(11,320)
Net loss				(36,999)	(37,320)	(42,844)		(117,163)
Accumulated other comprehensive loss				(17,314)	(12,463)	(7,174)		(17,314)	(10,690)	(5,994)
Accumulated deficit				(899,488)	(862,489)	(825,169)		(899,488)	(934,474)	(782,325)
Total stockholders' equity (deficit)				(22,569)	10,539	41,984		(22,569)	(36,713)	79,422
Adjustment
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Foreign currency translation adjustments				(107)	(99)	(24)		(230)
Net loss				206	219	228		653
Accumulated other comprehensive loss				(272)	(165)	(66)		(272)	(104)	(42)
Accumulated deficit				1,947	1,741	1,522		1,947	2,150	1,294
Total stockholders' equity (deficit)				$ 1,675	$ 1,576	$ 1,456		$ 1,675	$ 2,046	$ 1,252