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Net Loss Per Share Attributable to Common Stockholders - Schedule of Outstanding Potentially Dilutive Shares Excluded from Calculation of Diluted Net Loss Per Share (Details) - shares
3 Months Ended
Mar. 31, 2025
Mar. 31, 2024
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Potentially dilutive shares 23,266,662 20,342,614
Option to Purchase Common Stock    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Potentially dilutive shares 16,734,632 13,760,470
Unvested Restricted Stock Units Of Common Stock    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Potentially dilutive shares 3,842,457 3,208,580
Expected Shares To Be Purchased Under ESPP    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Potentially dilutive shares 495,233 205,246
Warrants Outstanding    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Potentially dilutive shares 2,194,340 2,194,342
Earn-out shares    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Potentially dilutive shares 0 973,976