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Fair Value Measurement - Schedule of Financial Assets and Liabilities Measured at Fair Value on Recurring Basis (Details)) - Fair Value, Recurring - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | ---
Assets: |  |  |  |
Assets |  | $ 64,324 | $ 122,725 |
Liabilities(2): |  |  |  |
Liabilities |  | 326 | 8,301 | [1]
Money Market Funds |  |  |  |
Assets: |  |  |  |
Assets |  | 9,194 | 32,310 | [2]
Commercial Paper |  |  |  |
Assets: |  |  |  |
Assets |  | 22,549 | 49,136 |
Corporate Bond |  |  |  |
Assets: |  |  |  |
Assets |  | 10,797 | 19,480 |
Government Bonds |  |  |  |
Assets: |  |  |  |
Assets |  | 17,802 | 18,082 |
Government agency debt securities |  |  |  |
Assets: |  |  |  |
Assets |  | 3,982 |  |
Foreign Bonds |  |  |  |
Assets: |  |  |  |
Assets |  |  | 3,717 |
Public Warrants |  |  |  |
Liabilities(2): |  |  |  |
Liabilities |  | 151 | 3,527 | [1]
Private Placement Warrants |  |  |  |
Liabilities(2): |  |  |  |
Liabilities | [1] |  | 166 |
P I P E Warrants |  |  |  |
Liabilities(2): |  |  |  |
Liabilities |  | 175 | 4,608 | [1]
Level 1 |  |  |  |
Assets: |  |  |  |
Assets |  | 9,194 | 32,310 |
Liabilities(2): |  |  |  |
Liabilities |  | 151 | 3,527 | [1]
Level 1 | Money Market Funds |  |  |  |
Assets: |  |  |  |
Assets |  | 9,194 | 32,310 | [2]
Level 1 | Commercial Paper |  |  |  |
Assets: |  |  |  |
Assets |  | 0 | 0 |
Level 1 | Corporate Bond |  |  |  |
Assets: |  |  |  |
Assets |  | 0 | 0 |
Level 1 | Government Bonds |  |  |  |
Assets: |  |  |  |
Assets |  | 0 | 0 |
Level 1 | Government agency debt securities |  |  |  |
Assets: |  |  |  |
Assets |  | 0 |  |
Level 1 | Foreign Bonds |  |  |  |
Assets: |  |  |  |
Assets |  |  | 0 |
Level 1 | Public Warrants |  |  |  |
Liabilities(2): |  |  |  |
Liabilities |  | 151 | 3,527 | [1]
Level 1 | Private Placement Warrants |  |  |  |
Liabilities(2): |  |  |  |
Liabilities | [1] |  | 0 |
Level 1 | P I P E Warrants |  |  |  |
Liabilities(2): |  |  |  |
Liabilities |  | 0 | 0 | [1]
Level 2 |  |  |  |
Assets: |  |  |  |
Assets |  | 55,130 | 90,415 |
Liabilities(2): |  |  |  |
Liabilities |  | 175 | 4,774 | [1]
Level 2 | Money Market Funds |  |  |  |
Assets: |  |  |  |
Assets |  | 0 | 0 | [2]
Level 2 | Commercial Paper |  |  |  |
Assets: |  |  |  |
Assets |  | 22,549 | 49,136 |
Level 2 | Corporate Bond |  |  |  |
Assets: |  |  |  |
Assets |  | 10,797 | 19,480 |
Level 2 | Government Bonds |  |  |  |
Assets: |  |  |  |
Assets |  | 17,802 | 18,082 |
Level 2 | Government agency debt securities |  |  |  |
Assets: |  |  |  |
Assets |  | 3,982 |  |
Level 2 | Foreign Bonds |  |  |  |
Assets: |  |  |  |
Assets |  |  | 3,717 |
Level 2 | Public Warrants |  |  |  |
Liabilities(2): |  |  |  |
Liabilities |  | 0 | 0 | [1]
Level 2 | Private Placement Warrants |  |  |  |
Liabilities(2): |  |  |  |
Liabilities | [1] |  | 166 |
Level 2 | P I P E Warrants |  |  |  |
Liabilities(2): |  |  |  |
Liabilities |  | 175 | 4,608 | [1]
Level 3 |  |  |  |
Assets: |  |  |  |
Assets |  | 0 | 0 |
Liabilities(2): |  |  |  |
Liabilities |  | 0 | 0 | [1]
Level 3 | Money Market Funds |  |  |  |
Assets: |  |  |  |
Assets |  | 0 | 0 | [2]
Level 3 | Commercial Paper |  |  |  |
Assets: |  |  |  |
Assets |  | 0 | 0 |
Level 3 | Corporate Bond |  |  |  |
Assets: |  |  |  |
Assets |  | 0 | 0 |
Level 3 | Government Bonds |  |  |  |
Assets: |  |  |  |
Assets |  | 0 | 0 |
Level 3 | Government agency debt securities |  |  |  |
Assets: |  |  |  |
Assets |  | 0 |  |
Level 3 | Foreign Bonds |  |  |  |
Assets: |  |  |  |
Assets |  |  | 0 |
Level 3 | Public Warrants |  |  |  |
Liabilities(2): |  |  |  |
Liabilities |  | 0 | 0 | [1]
Level 3 | Private Placement Warrants |  |  |  |
Liabilities(2): |  |  |  |
Liabilities | [1] |  | 0 |
Level 3 | P I P E Warrants |  |  |  |
Liabilities(2): |  |  |  |
Liabilities |  | $ 0 | $ 0 | [1]
[1] | See the definition and discussion of Public Warrants, Private Placement Warrants and PIPE Warrants in Note 11.
[2] | They are included in cash and cash equivalents on the consolidated balance sheets as of December 31, 2022 and 2021.

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