Net Loss per Share - Summary of Basic and Diluted Net loss per Share Attributable to Common Stockholders (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Earnings Per Share [Abstract]
Net income (loss)	$ (93,867)	$ (88,696)	$ (62,131)
Deemed dividend as a result of Class B Warrant price reset	2,546	13,943	0
Net loss attributable to common stockholders	$ (96,413)	$ (102,639)	$ (62,131)
Weighted average shares of common stock outstanding - basic (in shares)	63,526	25,749	20,077
Weighted average shares of common stock outstanding - diluted (in shares)	63,526	25,749	20,077
Net loss per share attributable to common stockholders - basic (in dollars per share)	$ (1.52)	$ (3.99)	$ (3.09)
Net loss per share attributable to common stockholders - diluted (in dollars per share)	$ (1.52)	$ (3.99)	$ (3.09)