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Significant Accounting Policies and Concentrations of Risk - Net Loss Per Share (Details) - shares
9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Significant Accounting Policies and Concentration of Risk [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount (in shares) 54,772,000 50,430,000
Outstanding stock options    
Significant Accounting Policies and Concentration of Risk [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount (in shares) 35,160,000 32,647,000
Restricted Stock Units (RSUs)    
Significant Accounting Policies and Concentration of Risk [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount (in shares) 4,589,000 2,760,000
Warrants to purchase common stock    
Significant Accounting Policies and Concentration of Risk [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount (in shares) 15,023,000 15,023,000