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Stock Plans - Schedule of Stock Options Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Options Outstanding      
Beginning Balance (in shares) 13,288 10,432  
Granted (in shares) 10,933 8,231  
Exercised (in shares) (15) (9)  
Cancelled/forfeited (in shares) (4,886) (5,366)  
Ending Balance (in shares) 19,320 13,288 10,432
Vested and expected to vest (in shares) 19,320    
Exercisable (in shares) 6,102    
Weighted- Average Exercise Price      
Beginning Balance (in USD per share) $ 5.83 $ 7.19  
Granted (in USD per share) 1.24 7.04  
Exercised (in USD per share) 0.19 5.86  
Cancelled/forfeited (in USD per share) 5.29 10.32  
Ending Balance (in USD per share) 3.38 $ 5.83 $ 7.19
Vested and expected to vest (in USD per share) 5.79    
Exercisable (in USD per share) $ 11.03    
Weighted- Average Remaining Contract Life (in years)      
Weighted- Average Remaining Contract Life (in years) 8 years 6 years 10 months 24 days 8 years 2 months 12 days
Vested and expected to vest 8 years    
Exercisable 6 years 4 months 24 days    
Outstanding, Aggregate Intrinsic Value $ 29 $ 145 $ 31,626
Vested and expected to vest, Aggregate Intrinsic Value 29    
Exercisable, Aggregate Intrinsic Value $ 29