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Stock-Based Compensation - Schedule of Stock Option Activity Under Equity Incentive Plans (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2024
USD ($)
$ / shares
shares
Number of Shares  
Outstanding, beginning balance (in shares) | shares 23,016
Options granted (in shares) | shares 12,541
Options exercised (in shares) | shares (144)
Options forfeited and canceled (in shares) | shares (2,354)
Outstanding, ending balance (in shares) | shares 33,059
Weighted- Average Exercise Price per Share  
Outstanding, beginning balance (in dollars per share) | $ / shares $ 8.26
Options granted (in dollars per share) | $ / shares 1.04
Options exercised (in dollars per share) | $ / shares 0.52
Options forfeited and canceled (in dollars per share) | $ / shares 7.87
Outstanding, ending balance (in dollars per share) | $ / shares $ 5.58
Weighted- Average Remaining Contractual Life (in Years)  
Weighted-Average Remaining Contractual Life, Outstanding 6 years 4 months 20 days
Aggregate Intrinsic Value, Outstanding | $ $ 4,468
Number of Shares, Exercisable (in shares) | shares 11,347
Weighted-Average Exercise Price Per Share, Exercisable (in dollars per share) | $ / shares $ 13.14
Weighted-Average Remaining Contractual Life, Exercisable 4 years 7 months 13 days
Aggregate Intrinsic Value, Exercisable | $ $ 1,230