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Organization and Significant Accounting Policies - Computation of Basic and Diluted Loss Per Share (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Numerator:      
Net loss $ (186,638) $ (151,293) $ (143,032)
Denominator:      
Weighted average shares outstanding, basic 121,242 103,373 96,197
Weighted average shares outstanding, diluted 121,242 103,373 96,197
Net loss per share, basic $ (1.54) $ (1.46) $ (1.49)
Net loss per share, diluted $ (1.54) $ (1.46) $ (1.49)