Net Loss per Share - Summary of Basic and Diluted Net Loss per Share Attributable to Common Stockholders (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Numerator:
Net loss	$ (34,941)	$ (34,757)
Denominator:
Weighted-average common shares outstanding-basic	42,040,674	41,861,613
Weighted-average common shares outstanding-diluted	42,040,674	41,861,613
Net loss per share basic	$ (0.83)	$ (0.83)
Net loss per share diluted	$ (0.83)	$ (0.83)