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Basic and Diluted Net Loss Per Share - Potential Shares of Common Stock Excluded from Diluted Weighted-Average Common Shares Outstanding (Details) - shares
shares in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Potential common shares excluded from diluted net loss per share (in shares) 10,742 4,793 4,108
Shares of common stock issuable under equity incentive plans outstanding      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Potential common shares excluded from diluted net loss per share (in shares) 9,999 4,050 3,866
Shares of common stock related to convertible preferred stock      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Potential common shares excluded from diluted net loss per share (in shares) 743 743 107
Shares of common stock related to convertible notes      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Potential common shares excluded from diluted net loss per share (in shares) 0 0 135