Net Loss per Share Attributable to Common Stock - Computation of Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Numerator:
Net loss	$ (27,212)	$ (74,523)	$ (84,522)	$ (176,471)
Dividends on convertible preferred stock	(297)	(350)	(523)	(1,144)
Net loss attributable to common stock - basic	$ (27,655)	$ (78,496)	$ (88,679)	$ (170,096)
Weighted average shares - basic (in shares)	111,678,417	107,396,575	110,895,358	107,032,381
Weighted-average shares to compute net loss per share attributable to common stock—basic and diluted	111,678,417	107,396,575
Net loss per share attributable to common stock - diluted (in dollars per share)	$ (0.25)	$ (0.73)	$ (0.80)	$ (1.59)
Denominator:
Weighted average shares - basic (in shares)	111,678,417	107,396,575	110,895,358	107,032,381
Weighted-average shares to compute net loss per share attributable to common stock—basic and diluted	111,678,417	107,396,575
Net loss per share attributable to common stock - diluted (in dollars per share)	$ (0.25)	$ (0.73)	$ (0.80)	$ (1.59)
Net loss per share attributable to common stock - basic (in dollars per share)	$ (0.25)	$ (0.73)	$ (0.80)	$ (1.59)
Net loss from continuing operations per share attributable to common stock—basic and diluted	$ (27,509)	$ (74,873)	$ (85,045)	$ (177,615)
Net Income (Loss) from Continuing Operations Available to Common Shareholders, Diluted	$ (27,509)	$ (74,873)	$ (85,045)	$ (177,615)