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Stock-Based Compensation - Additional Information (Details) - USD ($) $ in Thousands |  | 3 Months Ended |  |
--- | --- | --- | --- | ---
Jan. 01, 2023 | Mar. 31, 2023 | Mar. 31, 2022 | Dec. 31, 2022 | Jan. 01, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Change in accounting principle, ASU, adopted [true false] |  | true |  |  |
Change in accounting principle, ASU, Adoption date |  | Jan. 01, 2022 |  |  |
Accumulated deficit |  | $ (990,825) |  | $ (974,835) |
Common stock reserved for future issuance |  | 47,840,003 |  |  |
Stock based compensation expense |  | $ 8,661 | $ 6,595 |  |
Unamortized stock-based compensation expense |  | $ 19,179 |  |  |
Restricted Stock Units |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Common stock reserved for future issuance |  | 11,592,608 |  |  |
Vesting period |  | 1 year |  |  |
Unamortized stock-based compensation expense |  | $ 91,121 |  |  |
Weighted average amortization period |  | 3 years 2 months 12 days |  |  |
Restricted Stock Units | Minimum |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Vesting period |  | 2 years |  |  |
Restricted Stock Units | Maximum |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Vesting period |  | 4 years |  |  |
Stock Options |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Common stock reserved for future issuance |  | 8,755,890 |  |  |
Weighted average amortization period |  | 2 years 10 months 24 days |  |  |
Stock Options | Minimum |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Vesting period |  | 3 years |  |  |
Granting period |  | 5 years |  |  |
Stock Options | Maximum |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Vesting period |  | 4 years |  |  |
Granting period |  | 10 years |  |  |
ESPP |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Increase in number of shares authorized | 1,994,340 | 6,442,831 |  |  |
Stock based compensation expense |  | $ 270 | $ 196 |  |
2021 Plan |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Number of shares allocated to be granted or issued |  | 21,048,674 |  |  |
Increase in number of shares authorized | 9,971,700 |  |  |  |
2021 Plan | Restricted Stock Units |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Vesting period |  | 7 years |  |  |
Expiration period |  | 3 years |  |  |
Cumulative Effect Adjustment |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Accumulated deficit |  |  |  |  | $ 629

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