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Stockholders' Equity - Schedule of Stock Option Activity (Parenthetical) (Details) - shares
 6 Months Ended 12 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Class of Stock [Line Items]      
Granted stock option 0 0  
Options forfeited [1] 864,000    
Vested and expected to vest at the end of the period (in shares) [2] 35,095,000    
EPA      
Class of Stock [Line Items]      
Granted stock option     16,000,000
Options forfeited 800,000    
Vested and expected to vest at the end of the period (in shares) 6,000,000    
[1] This includes 0.8 million options under the EPA Program.
[2] This includes 6.0 million options granted pursuant to the EPA Program that are currently expected to vest. None of the options granted pursuant to the EPA Program were vested and exercisable as of June 30, 2023.