Net Loss per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2024	Mar. 31, 2024	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2024	Jun. 30, 2023
Numerator:
Net loss	$ (10,986)	$ (16,941)	$ (29,569)	$ (28,160)	$ (27,927)	$ (57,729)
Denominator:
Weighted average shares of common stock outstanding, basic	71,291,400		70,633,528		71,183,129	68,763,542
Weighted average shares of common stock outstanding, diluted	71,291,400		70,633,528		71,183,129	68,763,542
Net loss per share, basic	$ (0.15)		$ (0.42)		$ (0.39)	$ (0.84)
Net loss per share, diluted	$ (0.15)		$ (0.42)		$ (0.39)	$ (0.84)