Consolidated Statements of Comprehensive Loss - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Statement of Comprehensive Income [Abstract]
Net loss	$ (83,815)	$ (65,801)	$ (80,893)
Other comprehensive income (loss):
Foreign currency translation adjustment	(35)	(1)	19
Unrealized gain (loss) on marketable securities	7	(30)	(59)
Total comprehensive loss	$ (83,843)	$ (65,832)	$ (80,933)