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Net Loss Per Share - Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2022
Mar. 31, 2022
Jun. 30, 2023
Jun. 30, 2022
Numerator:            
Net loss attributable to ordinary shareholders $ (23,280) $ (17,975) $ (13,948) $ (13,081) $ (41,255) $ (27,029)
Less: Accretion of redeemable convertible preferred shares to their redemption value     (1,515)     (1,515)
Net loss attributable to ordinary shareholders $ (23,280)   $ (15,463)   $ (41,255) $ (28,544)
Denominator:            
Weighted-average ordinary shares outstanding 114,784   10,899   93,457 10,897
Less: weighted-average unvested restricted ordinary shares subject to repurchase (25)   (1,464)   (132) (1,647)
Weighted-average ordinary shares used in computing net loss per share attributable to ordinary shareholders, basic 114,759   9,435   93,325 9,250
Weighted-average ordinary shares used in computing net loss per share attributable to ordinary shareholders, diluted 114,759   9,435   93,325 9,250
Net loss per share attributable to ordinary shareholders, basic $ (0.20)   $ (1.64)   $ (0.44) $ (3.09)
Net loss per share attributable to ordinary shareholders, diluted $ (0.20)   $ (1.64)   $ (0.44) $ (3.09)