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Net Loss Per Share Attributable to Common Stockholders - Loss per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Numerator        
Net loss attributable to common stockholders, basic $ (17,413) $ (23,843) $ (44,150) $ (90,142)
Net loss attributable to common stockholders, diluted $ (17,413) $ (23,843) $ (44,150) $ (90,142)
Denominator        
Weighted average shares, basic (in shares) 118,003,640 115,249,431 116,995,545 114,681,893
Weighted average shares, diluted (in shares) 118,003,640 115,249,431 116,995,545 114,681,893
Earnings Per Share        
Net loss per share attributable to common stockholders, basic (in dollars per share) $ (0.15) $ (0.21) $ (0.38) $ (0.79)
Net loss per share attributable to common stockholders, diluted (in dollars per share) $ (0.15) $ (0.21) $ (0.38) $ (0.79)