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Significant Accounting Policies and Concentrations of Risk - Net Loss Per Share (Details) - shares
shares in Thousands
9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Significant Accounting Policies and Concentration of Risk [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount (in shares) 44,441 54,772
Outstanding stock options    
Significant Accounting Policies and Concentration of Risk [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount (in shares) 38,559 35,160
Unvested restricted stock unit awards    
Significant Accounting Policies and Concentration of Risk [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount (in shares) 5,882 4,589
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) 0 15,023