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Basic and Diluted Loss per Common Share - Computation of Net Loss per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Numerator:      
Net loss $ (111,441) $ (150,920) $ (88,641)
Denominator:      
Weighted average common shares outstanding, basic (in shares) 73,102,470 72,455,175 71,036,490
Weighted average common shares outstanding, diluted (in shares) 73,102,470 72,455,175 71,036,490
Earnings Per Share Basic And Diluted EPS [Abstract]      
Net loss per share, basic (in usd per share) $ (1.52) $ (2.08) $ (1.25)
Net loss per share, diluted (in usd per share) $ (1.52) $ (2.08) $ (1.25)