Stock-Based Compensation - Additional Information (Details) $ / shares in Units, $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023 USD ($) Employees	Sep. 30, 2022 USD ($)	Sep. 30, 2023 USD ($) Employees $ / shares	Sep. 30, 2022 USD ($) $ / shares
Schedule of Share-Based Compensation Arrangements by Share-Based Payment Award [Table]
Stock-based compensation	$ 1,655	$ 3,153	$ 6,251	$ 7,192
Terminated employees | Employees	26		69
Weighted average grant-date fair value of stock options granted to employees | $ / shares			$ 1.22	$ 7.79
Aggregate intrinsic value of stock option awards exercised			$ 40	$ 445
Incremental compensation expenses	$ 71		208
Restricted Stock Units (RSUs)
Schedule of Share-Based Compensation Arrangements by Share-Based Payment Award [Table]
Unrecognized compensation cost related to unvested stock option grants to employees	1,919		$ 1,919
Unrecognized compensation cost, expected to be recognized over a weighted-average period			2 years 10 months 24 days
Performance Stock Units (PSUs)
Schedule of Share-Based Compensation Arrangements by Share-Based Payment Award [Table]
Unrecognized compensation cost related to unvested stock option grants to employees	4,249		$ 4,249
Unrecognized compensation cost, expected to be recognized over a weighted-average period			1 year 9 months 18 days
Earn-Out Shares to Earn-Out Service Provider
Schedule of Share-Based Compensation Arrangements by Share-Based Payment Award [Table]
Stock-based compensation	328		$ 490
Maximum
Schedule of Share-Based Compensation Arrangements by Share-Based Payment Award [Table]
Option vesting period			2 years
Minimum
Schedule of Share-Based Compensation Arrangements by Share-Based Payment Award [Table]
Option vesting period			3 months
2022 Stock Option and Incentive Plan
Schedule of Share-Based Compensation Arrangements by Share-Based Payment Award [Table]
Unrecognized compensation cost related to unvested stock option grants to employees	$ 10,990		$ 10,990
Unrecognized compensation cost, expected to be recognized over a weighted-average period			2 years 3 months 18 days