Share-Based Compensation - Summary of RSAs (Details) - $ / shares	9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022
Restricted Stock Units and Restricted Stock Awards
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Balance at the beginning (in shares)	2,106,540	1,291,492
Granted (in shares)	1,899,809	1,544,284
Vested (in shares)	(1,208,380)	(350,043)
Forfeited (in shares)	(673,064)	(315,686)
Balance at the end (in shares)	2,124,905	2,170,047
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]
Balance at the beginning (in dollars per share)	$ 7.25	$ 10.98
Granted (in dollars per share)	0.64	7.28
Vested (in dollars per share)	2.45	10.68
Forfeited (in dollars per share)	4.49	7.50
Balance at the ending (in dollars per share)	$ 4.44	$ 10.98
Medical RSUs
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Balance at the beginning (in shares)	147,470
Granted (in shares)	824,288
Vested (in shares)	(971,758)
Forfeited (in shares)	0
Balance at the end (in shares)	0
Employees Earnout Shares
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Balance at the beginning (in shares)	1,417,632	1,602,435
Granted (in shares)	0	0
Vested (in shares)	0	0
Forfeited (in shares)	(16,568)	(165,297)
Balance at the end (in shares)	1,401,064	1,437,138