Stock-Based Compensation - Schedule of Assumptions Used to Estimate Fair Value, Earnout RSUs (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate	3.94%	3.13%	0.11%
Expected volatility	93.00%	76.90%	88.60%
Expected term (in years)	5 years 6 months	5 years 7 months 6 days	11 months 15 days
Earnout RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Dividend yield			0.00%
Earnout RSUs | Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate			0.84%
Expected volatility			53.10%
Expected term (in years)			4 years 9 months 29 days
Earnout RSUs | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate			1.21%
Expected volatility			81.00%
Expected term (in years)			5 years