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
	Mar. 31, 2024	Mar. 31, 2023
Numerator:
Net loss attributable to common stockholders	$ (30,804)	$ (28,433)
Denominator, basic
Weighted-average number of common shares outstanding, basic	68,030,966	66,265,703
Net loss per share attributable to common stockholders, basic	$ (0.45)	$ (0.43)
Denominator, diluted
Weighted-average number of common shares outstanding, diluted	68,030,966	66,265,703
Net loss per share attributable to common stockholders, diluted	$ (0.45)	$ (0.43)