Net Loss Per Share Attributable to Common Stockholders - Reconciliation of Numerator and Denominator Used in Calculation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 2022
Net loss per share:
Net loss	$ (41,192)	$ (37,548)	$ (29,546)	$ (28,100)	$ (78,740)	$ (57,646)
Net loss attributable to common stockholders, basic	(41,192)		(29,546)		(78,740)	(57,646)
Net loss attributable to common stockholders, diluted	$ (41,192)		$ (29,546)		$ (78,740)	$ (57,646)
Denominator
Weighted-average common shares outstanding used to calculate net loss per share attributable to common stockholders, basic (in shares)	59,172,869		36,173,135		57,623,842	36,144,944
Weighted-average common shares outstanding used to calculate net loss per share attributable to common stockholders, diluted (in shares)	59,172,869		36,173,135		57,623,842	36,144,944
Net loss per share, attributable to common stockholders - basic and diluted
Net loss per share attributable to common stockholders , basic (USD per share)	$ (0.70)		$ (0.82)		$ (1.37)	$ (1.59)
Net loss per share attributable to common stockholders , diluted (USD per share)	$ (0.70)		$ (0.82)		$ (1.37)	$ (1.59)