Net Loss per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2024	Jun. 30, 2024	Mar. 31, 2024	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2024	Sep. 30, 2023
Numerator:
Net loss	$ (7,586)	$ (10,986)	$ (16,941)	$ (29,261)	$ (29,569)	$ (28,160)	$ (35,513)	$ (86,990)
Denominator:
Weighted average shares of common stock outstanding, basic	71,381,731			70,807,934			71,249,813	69,452,495
Weighted average shares of common stock outstanding, diluted	71,381,731			70,807,934			71,249,813	69,452,495
Net loss per share, basic	$ (0.11)			$ (0.41)			$ (0.50)	$ (1.25)
Net loss per share, diluted	$ (0.11)			$ (0.41)			$ (0.50)	$ (1.25)