Net Loss per Share - Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Numerator:
Net loss	$ (67,993)	$ (72,593)
Denominator:
Weighted-average common shares outstanding	71,194,778	68,476,799
Less: weighted-average common shares subject to vesting		(1,394,638)
Weighted-average common shares used to compute basic and diluted net loss per share	71,194,778	67,082,161
Net loss per share: basic and diluted	$ (0.96)	$ (1.08)