Stock-Based Compensation - Summary of Stock Option Grants (Details)	12 Months Ended
	Dec. 31, 2022 $ / shares shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Granted Stock Options Outstanding (in shares) | shares	13,476,623
Weighted- Average Remaining Contractual Life (in years)	6 years 9 months 18 days
Weighted-Average Exercise Price (in dollars per share)	$ 3.81
Granted Stock Options Exercisable (in shares) | shares	6,594,608
Weighted-Average Exercise Price (in dollars per share)	$ 6.64
$0.63 - 4.96
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, range lower limit (in dollars per share)	0.63
Exercise price, range upper limit (in dollars per share)	$ 4.96
Granted Stock Options Outstanding (in shares) | shares	9,809,291
Weighted- Average Remaining Contractual Life (in years)	7 years 11 months 26 days
Weighted-Average Exercise Price (in dollars per share)	$ 1.41
Granted Stock Options Exercisable (in shares) | shares	2,955,694
Weighted-Average Exercise Price (in dollars per share)	$ 2.23
$4.97 - 6.91
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, range lower limit (in dollars per share)	4.97
Exercise price, range upper limit (in dollars per share)	$ 6.91
Granted Stock Options Outstanding (in shares) | shares	1,317,760
Weighted- Average Remaining Contractual Life (in years)	3 years 2 months 23 days
Weighted-Average Exercise Price (in dollars per share)	$ 5.97
Granted Stock Options Exercisable (in shares) | shares	1,317,760
Weighted-Average Exercise Price (in dollars per share)	$ 5.97
$6.92 - 9.00
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, range lower limit (in dollars per share)	6.92
Exercise price, range upper limit (in dollars per share)	$ 9.00
Granted Stock Options Outstanding (in shares) | shares	855,991
Weighted- Average Remaining Contractual Life (in years)	2 years 2 months 8 days
Weighted-Average Exercise Price (in dollars per share)	$ 7.74
Granted Stock Options Exercisable (in shares) | shares	855,991
Weighted-Average Exercise Price (in dollars per share)	$ 7.74
$9.01 - 12.00
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, range lower limit (in dollars per share)	9.01
Exercise price, range upper limit (in dollars per share)	$ 12.00
Granted Stock Options Outstanding (in shares) | shares	650,723
Weighted- Average Remaining Contractual Life (in years)	5 years 1 month 20 days
Weighted-Average Exercise Price (in dollars per share)	$ 11.17
Granted Stock Options Exercisable (in shares) | shares	622,305
Weighted-Average Exercise Price (in dollars per share)	$ 11.19
$12.01 - 22.64
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, range lower limit (in dollars per share)	12.01
Exercise price, range upper limit (in dollars per share)	$ 22.64
Granted Stock Options Outstanding (in shares) | shares	842,858
Weighted- Average Remaining Contractual Life (in years)	4 years 5 months 8 days
Weighted-Average Exercise Price (in dollars per share)	$ 18.66
Granted Stock Options Exercisable (in shares) | shares	842,858
Weighted-Average Exercise Price (in dollars per share)	$ 18.66