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Stock-based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Number of Options    
Beginning balance (in shares) 7,882  
Options granted (in shares) 2,609  
Option exercised (in shares) (44)  
Options cancelled (in shares) (1,153)  
Ending balance (in shares) 9,294 7,882
Vested (in shares) 3,497  
Unvested awards (in shares) 5,797  
Weighted-Average Exercise Price per Option    
Beginning balance (in dollars per share) $ 4.43  
Options granted (in dollars per share) 2.57  
Options exercised (in dollars per share) 1.84  
Options cancelled (in dollars per share) 6.84  
Ending balance (in dollars per share) 3.62 $ 4.43
Vested (in dollars per share) 3.98  
Unvested awards (in dollars per share) $ 3.4  
Weighted- Average Remaining Contractual Life (in Years)    
Contractual term 8 years 6 months 7 years 10 months 24 days
Vested 8 years 2 months 12 days  
Unvested awards 8 years 8 months 12 days  
Aggregate Intrinsic Value    
Outstanding $ 439 $ 0
Vested 78  
Unvested awards $ 361  
Share price (in usd per share) $ 2.21