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		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Numerator:
Net loss attributable to common stockholders	$ (33,190)	$ (23,788)	$ (91,602)	$ (68,184)
Denominator, basic
Weighted-average number of common shares outstanding, basic	67,607,713	38,009,022	66,973,771	37,582,463
Net loss per share attributable to common stockholders, basic	$ (0.49)	$ (0.63)	$ (1.37)	$ (1.81)
Denominator, diluted
Weighted-average number of common shares outstanding, diluted	67,607,713	38,009,022	66,973,771	37,582,463
Net loss per share attributable to common stockholders, diluted	$ (0.49)	$ (0.63)	$ (1.37)	$ (1.81)