Income Taxes - Schedule of Components of Losses Before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Domestic	$ (142,348)	$ (161,813)	$ (120,858)
Foreign	(27)	(854)	523
Total	$ (142,375)	$ (162,667)	$ (120,335)