It is not strictly necessary. The raised bed is manufactured without a base, excess water drains away downwards, and the patina protects the steel on its own.
Many gardeners still line the inner wall with a dimpled membrane, for two reasons: the membrane keeps permanently damp soil away from the inside face, and it buffers the heating of the steel wall, which rises noticeably on the sunny side in midsummer. That is gentler on the roots sitting directly against the bed wall.
If you do line it, use a dimpled membrane without plasticizers and leave the bottom open so that water can still drain away and earthworms can move in from below.