Net Loss per Share - Schedule of Basic and Diluted Earnings per Share (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	$ (42,385)	$ (39,397)	$ (29,348)	$ (23,840)	$ (81,782)	$ (53,188)
Cumulative dividend on preferred stock	0		(6,293)		0	(12,517)
Net loss attributable to common stockholders	(42,385)		(35,641)		(81,782)	(65,705)
Net loss attributable to common stockholders, diluted	$ (42,385)		$ (35,641)		$ (81,782)	$ (65,705)
Denominator:
Weighted-average common shares outstanding, diluted (in shares)	90,467,298		20,227,343		89,769,970	19,871,750
Weighted-average common shares outstanding, basic (in shares)	90,467,298		20,227,343		89,769,970	19,871,750
Net loss per share attributable to common stockholders, basic (in dollars per share)	$ (0.47)		$ (1.76)		$ (0.91)	$ (3.31)
Net loss per share attributable to common stockholders, diluted (in dollars per share)	$ (0.47)		$ (1.76)		$ (0.91)	$ (3.31)