Summary of Significant Accounting Policies - Liquidity - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Accounting Policies [Abstract]
Net income (loss) attributable to parent	$ (20,319)	$ (17,635)	$ (43,053)	$ (36,886)
Accumulated deficit	$ 1,911,620		$ 1,911,620		$ 1,868,567