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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 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 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) 11,236 13,341 10,826 10,063
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) 10,493 12,598 10,083 9,320
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