Income Taxes - Schedule of Components of Loss Before Provision for Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Domestic	$ (225,335)	$ (200,427)	$ (207,314)
Foreign	31	59	16
Total loss before provision for income taxes	$ (225,304)	$ (200,368)	$ (207,298)