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Net Loss Per Share - Anti-Dilutive Securities of Common Stock Excluded from Calculation of Diluted Net Loss Per Share (Details) - shares
shares in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Anti-dilutive securities not included in diluted net loss per share (in shares) 36,856 36,643
Options to purchase common stock and employee stock purchase plan    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Anti-dilutive securities not included in diluted net loss per share (in shares) 2,611 2,706
Unvested restricted stock unit awards    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Anti-dilutive securities not included in diluted net loss per share (in shares) 8,783 7,037
Warrants to purchase common stock    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Anti-dilutive securities not included in diluted net loss per share (in shares) 8,216 9,654
Senior Convertible Notes    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Anti-dilutive securities not included in diluted net loss per share (in shares) 17,246 17,246