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Basic and Diluted Net Loss Per Share - Schedule of Potential Shares of Common Stock Excluded from Diluted Weighted-Average Common Shares Outstanding (Details) - shares
shares in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Potential common shares excluded from diluted net loss per share (in shares) 10,687 6,360
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) 9,944 5,617
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