Net Loss Per Share - Computation of Basic and Diluted Net Loss (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Earnings Per Share [Abstract]
Net loss	$ (92,222)	$ (46,677)	$ (42,731)
Weighted-average shares used to compute net loss per share, basic (in shares)	111,321	106,387	101,009
Weighted-average shares used to compute net loss per share, diluted (in shares)	111,321	106,387	101,009
Net loss per share, basic (in usd per share)	$ (0.83)	$ (0.44)	$ (0.42)
Net loss per share, diluted (in usd per share)	$ (0.83)	$ (0.44)	$ (0.42)