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Net Loss Per Share - Summary of Basic and Diluted Net Loss Per Share of Common Stock (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Numerator:      
Net loss $ (149,260) $ (124,717) $ (146,334)
Denominator:      
Weighted-average common shares outstanding, basic (in Shares) 60,756,087 58,552,065 55,270,998
Weighted-average common shares outstanding, diluted (in Shares) 60,756,087 58,552,065 55,270,998
Net loss per share, basic (in dollars per share) $ (2.46) $ (2.13) $ (2.65)
Net loss per share, diluted (in dollars per share) $ (2.46) $ (2.13) $ (2.65)