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Net Loss Per Share - Summary of Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Numerator:    
Net loss used to compute basic net loss per share $ (23,749) $ (19,648)
Net loss used to compute diluted net loss per share $ (23,749) $ (19,648)
Denominator:    
Weighted-average shares used to compute basic net loss per share (in shares) 53,643,216 53,015,459
Weighted-average shares used to compute diluted net loss per share (in shares) 53,643,216 53,015,459
Net loss per share:    
Basic (in dollars per share) $ (0.44) $ (0.37)
Diluted (in dollars per share) $ (0.44) $ (0.37)