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, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Numerator:
Net loss attributable to common stockholders	$ (27,839)	$ (29,979)	$ (58,643)	$ (58,412)
Denominator, basic
Weighted-average number of common shares outstanding, basic	68,299,170	67,033,150	68,165,068	66,651,547
Net loss per share attributable to common stockholders, basic	$ (0.41)	$ (0.45)	$ (0.86)	$ (0.88)
Denominator, diluted
Weighted-average number of common shares outstanding, diluted	68,299,170	67,033,150	68,165,068	66,651,547
Net loss per share attributable to common stockholders, diluted	$ (0.41)	$ (0.45)	$ (0.86)	$ (0.88)