Income Taxes - Schedule of Income Before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Domestic	$ (149,540)	$ (147,314)	$ (101,878)
Foreign	207	9	0
Net loss before income taxes	$ (149,333)	$ (147,305)	$ (101,878)