Net Loss Per Share - Calculation of Basic and Diluted 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 Income (Loss)	$ (21,547)	$ (21,658)	$ (24,308)	$ (22,199)	$ (43,205)	$ (46,507)
Denominator:
Weighted-average shares of common stock outstanding	72,845,869		72,461,850		72,822,890	72,395,410
Net loss per common share, Basic	$ (0.3)		$ (0.34)		$ (0.59)	$ (0.64)
Net loss per common share, Diluted	$ (0.3)		$ (0.34)		$ (0.59)	$ (0.64)