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Net Loss Per Share - Net 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
Equity [Abstract]      
Net loss $ (105,897) $ (87,154) $ (59,853)
Weighted-average common stock outstanding, basic (in shares) 47,255 44,400 16,480
Weighted-average common stock outstanding, diluted (in shares) 47,255 44,400 16,480
Net loss per share, diluted (in dollars per share) $ (2.24) $ (1.96) $ (3.63)
Net loss per share, basic (in dollars per share) $ (2.24) $ (1.96) $ (3.63)