Net Loss Per Share - Summary of Computation of Basic and Diluted Net Loss Per Share Attributable to Common Stockholders (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 2022
Numerator:
Net loss	$ (11,759)	$ (20,711)	$ (22,493)	$ (21,892)	$ (32,470)	$ (44,385)
Dividends on Series D convertible preferred stock			(2,908)			(5,785)
Redemption value of Series D convertible preferred stock			(1,455)			(2,893)
Net loss attributable to common stockholders - basic	(11,759)		(26,856)		(32,470)	(53,063)
Net loss attributable to common stockholders - diluted	$ (11,759)		$ (26,856)		$ (32,470)	$ (53,063)
Denominator:
Weighted average common stock outstanding - basic	78,150,143		1,693,722		78,114,775	1,688,157
Weighted average common stock outstanding - diluted	78,150,143		1,693,722		78,114,775	1,688,157
Net loss per share attributable to common stockholders - basic	$ (0.15)		$ (15.86)		$ (0.42)	$ (31.43)
Net loss per share attributable to common stockholders - diluted	$ (0.15)		$ (15.86)		$ (0.42)	$ (31.43)