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Summary of Significant Accounting Policies - Antidilutive shares (Details) - shares | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
The number of shares excluded from the computation of diluted loss per share |  |  |
Antidilutive securities excluded from computation of earnings per share, amount | 13,214,338 | 14,609,804 | 15,290,040
Class C convertible preferred stock |  |  |
The number of shares excluded from the computation of diluted loss per share |  |  |
Antidilutive securities excluded from computation of earnings per share, amount | 5,894,535 | 5,664,532 | 5,443,505
Employee Stock Option |  |  |
The number of shares excluded from the computation of diluted loss per share |  |  |
Antidilutive securities excluded from computation of earnings per share, amount | 2,486,737 | 4,194,554 | 5,449,952
Restricted stock units |  |  |
The number of shares excluded from the computation of diluted loss per share |  |  |
Antidilutive securities excluded from computation of earnings per share, amount | 1,076,629 | 727,984 | 373,849
Convertible Senior Notes |  |  |
The number of shares excluded from the computation of diluted loss per share |  |  |
Antidilutive securities excluded from computation of earnings per share, amount | 3,756,437 | 4,022,734 | 4,022,734

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- Definition Securities (including those issuable pursuant to contingent stock agreements) that could potentially dilute basic earnings per share (EPS) or earnings per unit (EPU) in the future that were not included in the computation of diluted EPS or EPU because to do so would increase EPS or EPU amounts or decrease loss per share or unit amounts for the period presented. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 260 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (c) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482662/260-10-50-1 + Details
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