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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 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]        
Potential common shares excluded from diluted net loss per share (in shares) 10,556 10,488 10,622 8,424
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) 9,813 9,745 9,879 7,681
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) 743 743 743 743