Net Loss Per Share - Schedule of Earnings Per Share, Basic and Diluted (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2024	Mar. 31, 2024	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2024	Jun. 30, 2023
Numerator:
Net loss	$ (25,551)	$ (37,914)	$ (20,710)	$ (28,008)	$ (63,465)	$ (48,718)
Denominator:
Weighted-average common stock outstanding - basic	108,314,279		88,354,590		108,692,822	88,281,368
Weighted-average common stock outstanding - diluted	108,314,279		88,354,590		108,692,822	88,281,368
Net loss per common share - basic	$ (0.24)		$ (0.23)		$ (0.58)	$ (0.55)
Net loss per common share - diluted	$ (0.24)		$ (0.23)		$ (0.58)	$ (0.55)