Summary of Significant Accounting Policies - Computation of Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Numerator:
Net loss	$ (142,375)	$ (162,667)	$ (120,335)
Denominator:
Weighted average number of shares used in calculating net loss per share, basic (in shares)	82,496,000	79,950,000	77,085,000
Weighted average number of shares used in calculating net loss per share, diluted (in shares)	82,496,000	79,950,000	77,085,000
Net loss per share, basic (in dollars per share)	$ (1.73)	$ (2.03)	$ (1.56)
Net loss per share, diluted (in dollars per share)	$ (1.73)	$ (2.03)	$ (1.56)