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Net Loss Per Share - Schedule of Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended 12 Months Ended
Dec. 31, 2023
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Earnings Per Share [Abstract]                      
Net loss $ (12,358) $ (20,419) $ (21,739) $ (27,248) $ (13,653) $ (23,207) $ (23,670) $ (34,120) $ (81,764) $ (94,650) $ (53,000)
Weighted-average shares used in computing basic net loss per share (in shares) 72,926 72,356 71,627 71,259 70,704 70,232 69,748 68,974 72,048 69,920 67,512
Weighted-average shares used in computing diluted net loss per share (in shares) 72,926 72,356 71,627 71,259 70,704 70,232 69,748 68,974 72,048 69,920 67,512
Basic net loss per share (in USD per share) $ (0.17) $ (0.28) $ (0.30) $ (0.38) $ (0.19) $ (0.33) $ (0.34) $ (0.49) $ (1.13) $ (1.35) $ (0.79)
Diluted net loss per share (in USD per share) $ (0.17) $ (0.28) $ (0.30) $ (0.38) $ (0.19) $ (0.33) $ (0.34) $ (0.49) $ (1.13) $ (1.35) $ (0.79)