Stock-based Compensation - Schedule of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Number of Stock Options
Beginning Balance (in shares)	53,849,045
Granted (in shares)	12,399,063
Exercised (in shares)	(2,996,262)
Canceled or forfeited (in shares)	(7,655,015)
Ending Balance (in shares)	55,596,831	53,849,045
Options Exercisable (in shares)	33,965,690
Weighted-Average Exercise Price per Share
Beginning Balance (in dollars per share)	$ 5.09
Granted (in dollars per share)	2.29
Exercised (in dollars per share)	0.10
Cancelled or forfeited (in dollars per share)	5.03
Ending Balance (in dollars per share)	4.75	$ 5.09
Options Exercisable (in dollars per share)	$ 5.06
Weighted-Average Remaining Contractual Life (years)
Options Outstanding	6 years 10 months 20 days	7 years 10 months 2 days
Options Exercisable	5 years 9 months 3 days
Aggregate Intrinsic Value
Options Outstanding	$ 7,368	$ 24,887
Options Exercisable	$ 7,303