Income Taxes - Schedule of Pre-Tax Book Loss (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
United States	$ (97,047)	$ (79,354)	$ (26,758)
Foreign	4,466	5,400	3,024
Loss before provision for income taxes	$ (92,581)	$ (73,954)	$ (23,734)