Net Loss per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Numerator:
Net loss	$ (88,481)	$ (86,908)	$ (90,865)
Denominator:
Weighted average shares of common stock outstanding, basic	69,808,855	65,213,944	56,730,583
Weighted average shares of common stock outstanding, diluted	69,808,855	65,213,944	56,730,583
Net loss per share, basic	$ (1.27)	$ (1.33)	$ (1.60)
Net loss per share, diluted	$ (1.27)	$ (1.33)	$ (1.60)