Net Loss Per Share Attributable to Common Stockholders - Schedule of 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						9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022
Net loss per share:
Net loss	$ (41,487)	$ (41,192)	$ (37,548)	$ (30,615)	$ (29,546)	$ (28,100)	$ (120,227)	$ (88,261)
Net loss attributable to common stockholders, basic	(41,487)			(30,615)			(120,227)	(88,261)
Net loss attributable to common stockholders, diluted	$ (41,487)			$ (30,615)			$ (120,227)	$ (88,261)
Denominator
Weighted-average common shares outstanding used to calculate net loss per share attributable to common stockholders, basic (in shares)	59,688,451			46,799,058			58,319,608	39,735,342
Weighted-average common shares outstanding used to calculate net loss per share attributable to common stockholders, diluted (in shares)	59,688,451			46,799,058			58,319,608	39,735,342
Earnings Per Share [Abstract]
Net loss per share attributable to common stockholders , basic (USD per share)	$ (0.70)			$ (0.65)			$ (2.06)	$ (2.22)
Net loss per share attributable to common stockholders , diluted (USD per share)	$ (0.70)			$ (0.65)			$ (2.06)	$ (2.22)