Net Loss Per Share - Schedule of Basic and Diluted Net Loss per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Earnings Per Share [Abstract]
Net loss	$ (34,787)	$ (16,309)	$ (60,587)	$ (59,085)
Weighted-average number of shares outstanding used in computing net loss per share, basic	77,625,304	63,947,069	77,181,388	62,749,520
Weighted-average number of shares outstanding used in computing net loss per share, diluted	77,625,304	63,947,069	77,181,388	62,749,520
Net loss per share, basic	$ (0.45)	$ (0.26)	$ (0.78)	$ (0.94)
Net loss per share, diluted	$ (0.45)	$ (0.26)	$ (0.78)	$ (0.94)
Anti-dilutive shares excluded from computation of net loss per share (in shares)	23,104,652	13,292,054	23,363,793	11,004,788