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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.