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Basic and Diluted Net Loss Per Share - Schedule of Computation of Company's Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2024
Jun. 30, 2024
Mar. 31, 2024
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2024
Sep. 30, 2023
Numerator                
Net loss $ (7,853) $ (14,753) $ (28,494) $ (42,116) $ (21,482) $ (54,399) $ (51,100) $ (117,997)
Denominator                
Weighted-average common shares outstanding for basic net loss per share (in shares) 91,892     94,593     92,590 95,213
Weighted-average common shares outstanding for diluted net loss per share (in shares) 91,892     94,593     92,590 95,213
Basic net loss per share (in dollars per share) $ (0.09)     $ (0.45)     $ (0.55) $ (1.24)
Diluted net loss per share (in dollars per share) $ (0.09)     $ (0.45)     $ (0.55) $ (1.24)