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Basic and Diluted Loss Per Share - Schedule of potentially dilutive securities excluded from the diluted loss per share calculation (Details) - shares
6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Earnings (Loss) Per Share    
Total potentially dilutive securities 49,158,768 47,805,769
Warrants    
Earnings (Loss) Per Share    
Total potentially dilutive securities 19,333,303 19,333,303
2014 Plan & 2021 Plan - Stock Options    
Earnings (Loss) Per Share    
Total potentially dilutive securities 23,508,745 25,892,666
2021 Plan - RSUs    
Earnings (Loss) Per Share    
Total potentially dilutive securities 6,269,774 2,474,393
ESPP - Common Stock    
Earnings (Loss) Per Share    
Total potentially dilutive securities 46,946 46,352
Contingently Issued Shares of Common Stock    
Earnings (Loss) Per Share    
Total potentially dilutive securities   59,055