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Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares
Sep. 30, 2023
Dec. 31, 2022
Class of Stock [Line Items]    
Total common stock reserved for future issuance (in shares) 218,651,900 199,995,512
Possible future issuance under stock plans    
Class of Stock [Line Items]    
Total common stock reserved for future issuance (in shares) 46,057,407 26,434,957
Conversion of convertible notes    
Class of Stock [Line Items]    
Total common stock reserved for future issuance (in shares) 53,538,000 53,538,000
Outstanding common stock warrants    
Class of Stock [Line Items]    
Total common stock reserved for future issuance (in shares) 12,170,990 12,170,990
Outstanding stock options, restricted stock units and performance stock units    
Class of Stock [Line Items]    
Total common stock reserved for future issuance (in shares) 106,885,503 107,851,565