Stock Incentive Plans - Summary of Stock Option Activity Under Stock Incentive Plan (Details) - Stock Options $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Number of Options
Balance at the beginning of the period (in shares) | shares	36,156,445
Granted (in shares) | shares	6,080,148
Exercised (in shares) | shares	(1,631,016)
Canceled and forfeited (in shares) | shares	(2,228,604)
Balance at the end of the period (in shares) | shares	38,376,973	36,156,445
Number of options, Exercisable | shares	11,157,842
Vested, Number of Options (in shares) | shares	8,267,104
Weighted-Average Exercise Price per Share
Balance at the beginning of the period (in dollars per share) | $ / shares	$ 16.37
Granted (in dollars per share) | $ / shares	5.35
Exercised (in dollars per share) | $ / shares	1.41
Canceled and forfeited (in dollars per share) | $ / shares	10.45
Balance at the end of the period (in dollars per share) | $ / shares	15.61	$ 16.37
Exercisable, Weighted-Average Exercise Price, Per Share (in dollars per share) | $ / shares	11.17
Vested, Weighted-Average Exercise Price per Share (in dollars per share) | $ / shares	$ 9.39
Option Activity, Additional Disclosures
Options outstanding, Weighted Average Remaining Contractual Life (Years)	7 years 9 months	7 years 8 months 1 day
Exercisable, Weighted Average Remaining Contractual Life (in years)	7 years 4 months 20 days
Options Vested, Weighted Average Remaining Contractual Life (Years)	6 years 3 months 3 days
Options outstanding, Aggregate Intrinsic Value (in USD) | $	$ 14,943	$ 29,101
Options Vested, Aggregate Intrinsic Value (in USD) | $	11,972
Exercisable, Aggregate Intrinsic Value | $	$ 13,162