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, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Numerator:
Net loss attributable to common stockholders	$ (27,559)	$ (33,190)	$ (86,202)	$ (91,602)
Denominator, basic
Weighted-average number of common shares outstanding, basic	68,465,801	67,607,713	68,266,044	66,973,771
Net loss per share attributable to common stockholders, basic	$ (0.4)	$ (0.49)	$ (1.26)	$ (1.37)
Denominator, diluted
Weighted-average number of common shares outstanding, diluted	68,465,801	67,607,713	68,266,044	66,973,771
Net loss per share attributable to common stockholders, diluted	$ (0.4)	$ (0.49)	$ (1.26)	$ (1.37)