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Net Loss Per Share - Net loss per share (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Equity [Abstract]                
Net loss $ (24,622) $ (25,285) $ (28,484) $ (22,613) $ (19,184) $ (17,185) $ (78,393) $ (58,982)
Weighted-average common stock outstanding, basic (in shares) 48,310     44,640     46,131 44,276
Weighted-average common stock outstanding, diluted (in shares) 48,310     44,640     46,131 44,276
Net loss per share, basic (in dollars per share) $ (0.51)     $ (0.51)     $ (1.70) $ (1.33)
Net loss per share, diluted (in dollars per share) $ (0.51)     $ (0.51)     $ (1.70) $ (1.33)