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Earnings Per Share - Computation of Earnings Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Earnings Per Share [Abstract]      
Net loss $ (58,600) $ (46,822) $ (51,355)
Less: cumulative dividends and adjustments to redeemable convertible preferred stock 0 (277) (5,290)
Net loss attributable to common stockholders, basic (58,600) (47,099) (56,645)
Net loss attributable to common stockholders, diluted $ (58,600) $ (47,099) $ (56,645)
Weighted average common shares outstanding - basic (in shares) 90,956,521 64,510,456 4,809,533
Weighted average common shares outstanding - diluted (in shares) 90,956,521 64,510,456 4,809,533
Loss per common share - basic (in dollars per share) $ (0.64) $ (0.73) $ (11.78)
Loss per common share - diluted (in dollars per share) $ (0.64) $ (0.73) $ (11.78)