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Net Loss Per Share - Schedule of Outstanding Potentially Dilutive Securities Excluded From Calculation of Diluted Net Loss (Details) - shares
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive common stock equivalents excluded from calculation of diluted net loss per share 19,078,894 17,968,970
Stock Options Outstanding    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive common stock equivalents excluded from calculation of diluted net loss per share 6,891,349 4,463,459
RSUs and PSUs Outstanding    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive common stock equivalents excluded from calculation of diluted net loss per share 1,508,546 1,218,377
Warrants to Purchase Common Stock    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive common stock equivalents excluded from calculation of diluted net loss per share 10,075,092 11,688,597
Conversion Feature Related To Outstanding Term Loan    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive common stock equivalents excluded from calculation of diluted net loss per share 590,816 590,816
ESPP    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Antidilutive common stock equivalents excluded from calculation of diluted net loss per share 13,091 7,721