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Net Loss per Share Attributable to Common Stockholders - Antidilutive Securities (Details) - shares
6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Earnings Per Common Share [Line Items]    
Antidilutive securities (in shares) 11,785,605 14,836,252
RSUs    
Earnings Per Common Share [Line Items]    
Antidilutive securities (in shares) 4,210,924 3,742,337
Stock options    
Earnings Per Common Share [Line Items]    
Antidilutive securities (in shares) 7,446,184 10,970,322
Shares issuable pursuant to the ESPP    
Earnings Per Common Share [Line Items]    
Antidilutive securities (in shares) 128,497 123,593