Net Loss Per Share - Schedule of Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Numerator:
Net loss attributable to common stockholders	$ (29,979)	$ (21,659)	$ (58,412)	$ (44,396)
Denominator, basic
Weighted-average number of common shares outstanding, basic	67,033,150	37,437,063	66,651,547	37,365,647
Net loss per share attributable to common stockholders, basic	$ (0.45)	$ (0.58)	$ (0.88)	$ (1.19)
Denominator, diluted
Weighted-average number of common shares outstanding, diluted	67,033,150	37,437,063	66,651,547	37,365,647
Net loss per share attributable to common stockholders, diluted	$ (0.45)	$ (0.58)	$ (0.88)	$ (1.19)