Net Loss Per Share Attributable to Common Stockholders - Summary of Computation of Net Loss Attributable To Common Stockholders (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Numerator:
Net loss and comprehensive loss	$ (11,867)	$ (28,758)
Accretion on Series A convertible preferred stock	(653)	0
Net loss attributable to common stockholders	(12,520)	(28,758)
Net loss attributable to common stockholders	$ (12,520)	$ (28,758)
Denominator:
Weighted-average number of shares outstanding used to compute net loss per share attributable to common stockholders, basic (in shares)	113,545,429	110,384,313
Weighted-average number of shares outstanding used to compute net loss per share attributable to common stockholders, diluted (in shares)	113,545,429	110,384,313
Net loss per share attributable to common stockholders, basic (in dollars per share)	$ (0.11)	$ (0.26)
Net loss per share attributable to common stockholders, diluted (in dollars per share)	$ (0.11)	$ (0.26)