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Net Loss Per Share Attributable to Common Stockholders - Schedule of Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Mar. 31, 2024
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2024
Jun. 30, 2023
Earnings Per Share [Abstract]            
Net Income (Loss) $ (18,902) $ (16,934) $ (11,613) $ (8,671) $ (35,836) $ (20,284)
Cumulative redeemable convertible preferred stock dividends 0   (3,776)   0 (7,510)
Net loss attributable to common stockholders $ (18,902)   $ (15,389)   $ (35,836) $ (27,794)
Weighted-average common shares outstanding, basic 66,649,443   3,918,509   56,857,104 3,885,713
Weighted-average common shares outstanding, diluted 66,649,443   3,918,509   56,857,104 3,885,713
Net loss per share attributable to common stockholders, basic $ (0.28)   $ (3.93)   $ (0.63) $ (7.15)
Net loss per share attributable to common stockholders, diluted $ (0.28)   $ (3.93)   $ (0.63) $ (7.15)