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Net Loss per Share - Schedule of Earnings Per Share Basic and Diluted Attributable to Common Stockholders (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Numerator:        
Net Income (Loss) $ (13,880) $ (16,813) $ (20,097) $ (20,496)
Net loss attributable to common stockholders - basic (13,880) (16,813) (20,097) (20,496)
Net loss attributable to common stockholders - diluted $ (13,880) $ (16,813) $ (20,097) $ (20,496)
Denominator:        
Weighted average common shares outstanding - basic 124,562,015 111,133,221 123,859,762 110,464,092
Weighted average common shares outstanding - diluted 124,562,015 111,133,221 123,859,762 110,464,092
Net loss per share attributable to common stockholders - basic $ (0.11) $ (0.15) $ (0.16) $ (0.19)
Net loss per share attributable to common stockholders - diluted $ (0.11) $ (0.15) $ (0.16) $ (0.19)