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, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Numerator:
Net loss from continuing operations	$ (27,880)	$ (27,212)	$ (94,654)	$ (84,522)
Dividends on convertible preferred stock	(191)	(297)	(424)	(523)
Net loss attributable to common stock - basic	$ (28,071)	$ (27,655)	$ (95,078)	$ (88,679)
Weighted average shares - basic (in shares)	120,393,897	111,678,417	119,379,082	110,895,358
Weighted-average shares to compute net loss per share attributable to common stock—basic and diluted	120,393,897	111,678,417	119,379,082	110,895,358
Net loss per share attributable to common stock - diluted (in dollars per share)	$ (0.23)	$ (0.25)	$ (0.80)	$ (0.80)
Denominator:
Weighted average shares - basic (in shares)	120,393,897	111,678,417	119,379,082	110,895,358
Weighted-average shares to compute net loss per share attributable to common stock—basic and diluted	120,393,897	111,678,417	119,379,082	110,895,358
Net loss per share attributable to common stock - diluted (in dollars per share)	$ (0.23)	$ (0.25)	$ (0.80)	$ (0.80)
Net loss per share attributable to common stock - basic (in dollars per share)	$ (0.23)	$ (0.25)	$ (0.80)	$ (0.80)
Net loss from continuing operations per share attributable to common stock—basic and diluted	$ (28,071)	$ (27,509)	$ (95,078)	$ (85,045)
Net Income (Loss) from Continuing Operations Available to Common Shareholders, Diluted	$ (28,071)	$ (27,509)	$ (95,078)	$ (85,045)