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Income Taxes - Schedule of Loss before Income Tax Provision (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
U.S. $ (163,580) $ (128,650) $ (57,741)
Foreign (43) (50) (55)
Loss before income taxes $ (163,623) $ (128,700) $ (57,796)