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Net Loss Per Share - Schedule of Earnings Per Share, Basic and Diluted (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Numerator:                
Net loss $ (22,263) $ (20,710) $ (28,008) $ (29,050) $ (24,858) $ (25,208) $ (70,981) $ (79,116)
Denominator:                
Weighted-average common stock outstanding - basic 97,033,273     87,892,195     91,268,133 87,868,081
Weighted-average common stock outstanding - diluted 97,033,273     87,892,195     91,268,133 87,868,081
Net loss per common share - basic $ (0.23)     $ (0.33)     $ (0.78) $ (0.90)
Net loss per common share - diluted $ (0.23)     $ (0.33)     $ (0.78) $ (0.90)