Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Numerator [Abstract]
Net loss	$ (95,960)	$ (132,442)	$ (94,989)
Numerator for basic EPS - loss attributable to common stockholders	(95,960)	(132,442)	(94,989)
Numerator for diluted EPS - loss attributable to common stockholders	$ (95,960)	$ (132,442)	$ (94,989)
Denominator [Abstract]
Common stock (in shares)	141,300,000	139,255,000	79,579,000
Denominator for basic EPS - weighted-average common stock (in shares)	141,300,000	139,255,000	79,579,000
Denominator for diluted EPS - weighted-average common stock (in shares)	141,300,000	139,255,000	79,579,000
Basic net loss per share (in dollars per share)	$ (0.68)	$ (0.95)	$ (1.19)
Diluted net loss per share (in dollars per share)	$ (0.68)	$ (0.95)	$ (1.19)
Net (Loss) Income per Share [Abstract]
Anti-dilutive common equivalent shares (in shares)	27,327,388	25,414,523	16,282,263
Outstanding Options to Purchase Common Stock [Member]
Net (Loss) Income per Share [Abstract]
Anti-dilutive common equivalent shares (in shares)	22,511,900	19,427,755	7,726,972
Outstanding Restricted Stock Units [Member]
Net (Loss) Income per Share [Abstract]
Anti-dilutive common equivalent shares (in shares)	847,169	2,018,449	4,586,972
Outstanding Warrants [Member]
Net (Loss) Income per Share [Abstract]
Anti-dilutive common equivalent shares (in shares)	3,968,319	3,968,319	3,968,319