Net Loss Per Share - Summary of Basic and Diluted Earnings Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022
Earnings Per Share [Abstract]
Net loss	$ (33,142)	$ (28,183)	$ (35,467)	$ (8,066)	$ (31,335)	$ (42,077)	$ (96,792)	$ (81,478)
Weighted average common shares outstanding, basic	83,399,769			83,258,537			83,374,328	83,231,146
Weighted average common shares outstanding, diluted	83,399,769			83,258,537			83,374,328	83,231,146
Net loss per share, basic	$ (0.40)			$ (0.10)			$ (1.16)	$ (0.98)
Net loss per share, diluted	$ (0.40)			$ (0.10)			$ (1.16)	$ (0.98)