Warrants and Tranche Liabilities - Narrative (Details)	1 Months Ended		2 Months Ended	3 Months Ended	12 Months Ended
	Aug. 31, 2020 USD ($) $ / shares shares	Jul. 31, 2020 USD ($) $ / shares shares	May 31, 2020 $ / shares shares	Mar. 31, 2021 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)	Mar. 11, 2021 USD ($) shares	Apr. 03, 2020 USD ($) $ / shares shares	Aug. 05, 2019 USD ($) $ / shares shares	Nov. 27, 2018 USD ($) $ / shares shares
Class of Warrant or Right [Line Items]
Warrant, expiration period					10 years
Warrant, fair value					$ 180,000	$ 7,626,000
Warrants, loss (gain) from fair value adjustment					(7,446,000)	(2,947,000)	$ 48,440,000
Warrants outstanding (in shares) | shares								15,999,996
Series B Redeemable Convertible Preferred Stock
Class of Warrant or Right [Line Items]
Issuance of redeemable convertible preferred stock (in shares) | shares	25,286,587	37,970,846	62,505,102
Preferred stock issued (in dollars per share) | $ / shares		$ 0.3323	$ 0.3323
Proceeds from issuance of redeemable convertible preferred stock		$ 12,500,000
At-the-market offering costs for the issuance of common stock		$ 100,000
Other Income (Expense), Net | Series B Redeemable Convertible Preferred Stock
Class of Warrant or Right [Line Items]
Gain on expiration of tranche right	$ 1,600,000
Series A Redeemable Convertible Preferred Stock Warrants
Class of Warrant or Right [Line Items]
Warrants issued, number of preferred stock callable (in shares) | shares										53,023	35,348
Warrants issued, exercise price (in dollars per share) | $ / shares										$ 11.3518	$ 11.3518
Warrant, fair value										$ 100,000	$ 100,000
Warrants, loss (gain) from fair value adjustment				$ (200,000)
Series A Redeemable Convertible Preferred Stock Warrants | Other Income (Expense), Net
Class of Warrant or Right [Line Items]
Warrants, loss (gain) from fair value adjustment				$ 600,000
Series B Redeemable Convertible Preferred Stock Warrants
Class of Warrant or Right [Line Items]
Warrants issued, number of preferred stock callable (in shares) | shares									4,513,993
Warrants issued, exercise price (in dollars per share) | $ / shares									$ 0.3323
Warrant, expiration period									10 years
Warrant, fair value									$ 700,000
Series B Redeemable Convertible Preferred Stock Warrants | Other Income (Expense), Net
Class of Warrant or Right [Line Items]
Warrants, loss (gain) from fair value adjustment						8,300,000
Redeemable Convertible Preferred Stock Tranche Right
Class of Warrant or Right [Line Items]
Warrants issued, exercise price (in dollars per share) | $ / shares			$ 0.3323
Private Placement Warrants | Sponsor
Class of Warrant or Right [Line Items]
Warrants issued, number of preferred stock callable (in shares) | shares	6,000,000
Warrants issued, exercise price (in dollars per share) | $ / shares	$ 11.50
Warrant, expiration period	5 years
Warrant, fair value	$ 19,400,000
Sale of warrants, price (in dollars per share) | $ / shares	$ 1.00
Warrant, aggregated purchase price	$ 6,000,000
Warrant, exercisable, threshold period	12 months
Number of ordinary shares called by each warrant (in shares) | shares	1							1
Private Placement Warrants | CLA
Class of Warrant or Right [Line Items]
Warrants outstanding (in shares) | shares								6,000,000
Private Placement Warrants | Other Income (Expense), Net | Sponsor
Class of Warrant or Right [Line Items]
Warrants, loss (gain) from fair value adjustment					$ (7,400,000)	$ (11,800,000)
Public Warrants
Class of Warrant or Right [Line Items]
Warrant, fair value								$ 17,900,000
Sale of warrants, price (in dollars per share) | $ / shares	$ 0.01
Warrants outstanding (in shares) | shares								9,999,996
Warrant, conversion ratio	1
Class of warrant or right, exercisable, threshold common stock price (in dollars per share) | $ / shares	$ 18.00
Class of warrant or right, exercisable, threshold trading days	20 days
Class of warrant or right, exercisable, threshold trading-day period	30 days
Public Warrants | CLA
Class of Warrant or Right [Line Items]
Warrants issued, number of preferred stock callable (in shares) | shares	20,000,000
Warrants issued, exercise price (in dollars per share) | $ / shares	$ 11.50
Warrant, expiration period	5 years
Warrant, exercisable, threshold period	12 months