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Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares
Mar. 31, 2024
Dec. 31, 2023
Class of Stock [Line Items]    
Total common stock reserved for future issuance (in shares) 219,099,284 206,182,041
Possible future issuance under stock plans    
Class of Stock [Line Items]    
Total common stock reserved for future issuance (in shares) 78,309,380 45,384,011
Conversion of convertible notes    
Class of Stock [Line Items]    
Total common stock reserved for future issuance (in shares) 22,841,631 49,610,631
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) 105,777,283 99,016,409