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Organization and Significant Accounting Policies - Schedule of Prior-period Adjustment - Condensed Consolidated Statements of Stockholders' Equity (Details) - USD ($)
$ 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
Dec. 31, 2022
Dec. 31, 2021
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Foreign currency translation adjustments $ 178 $ 1,105 $ (5,388) $ (1,204) $ 1,283 $ (6,592)    
Net loss (51,377) (43,529) (37,101) (42,616) (94,906) (79,717)    
Accumulated other comprehensive loss (9,511)   (12,628) (7,240) (9,511) (12,628) $ (10,794) $ (6,036)
Accumulated deficit (1,027,230)   (860,748) (823,647) (1,027,230) (860,748) (932,324) (781,031)
Total stockholders' equity $ (28,153) $ (58,362) 12,115 43,440 $ (28,153) 12,115 (34,667) 80,674
As Reported                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Foreign currency translation adjustments     (5,289) (1,180)   (6,469)    
Net loss     (37,320) (42,844)   (80,164)    
Accumulated other comprehensive loss     (12,463) (7,174)   (12,463) (10,690) (5,994)
Accumulated deficit     (862,489) (825,169)   (862,489) (934,474) (782,325)
Total stockholders' equity     10,539 41,984   10,539 (36,713) 79,422
Adjustment                
Error Corrections and Prior Period Adjustments Restatement [Line Items]                
Foreign currency translation adjustments     (99) (24)   (123)    
Net loss     219 228   447    
Accumulated other comprehensive loss     (165) (66)   (165) (104) (42)
Accumulated deficit     1,741 1,522   1,741 2,150 1,294
Total stockholders' equity     $ 1,576 $ 1,456   $ 1,576 $ 2,046 $ 1,252