Net Loss Per Share - Schedule of Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Earnings Per Share [Abstract]
Net loss	$ (78,284)	$ (92,222)	$ (46,677)
Weighted-average shares used to compute net loss per share, basic (in shares)	115,408	111,321	106,387
Weighted-average shares used to compute net loss per share, diluted (in shares)	115,408	111,321	106,387
Net loss per share, basic (in usd per share)	$ (0.68)	$ (0.83)	$ (0.44)
Net loss per share, diluted (in usd per share)	$ (0.68)	$ (0.83)	$ (0.44)