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Basic and Diluted Net Loss Per Common Share - Schedule of Computation of Basic and Diluted Net Loss per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Earnings Per Share [Abstract]      
Net loss $ (108,296) $ (113,315) $ (65,226)
Weighted-average common shares outstanding—basic 48,175,201 45,704,805 43,886,730
Weighted-average common shares outstanding—diluted 48,175,201 45,704,805 43,886,730
Net loss per common share—basic $ (2.25) $ (2.48) $ (1.49)
Net loss per common share—diluted $ (2.25) $ (2.48) $ (1.49)