Loss Per Share - Summary of Computation of Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Net loss attributable to common stockholders
Net loss	$ (9,052)	$ (9,236)
Weighted-average common stock outstanding:
Basic	80,681,715	76,447,454
Diluted	80,681,715	76,447,454
Loss per share, Basic:
Basic	$ (0.11)	$ (0.12)
Loss per share, Diluted:
Diluted	$ (0.11)	$ (0.12)