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Summary of Significant Accounting Policies - 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
Net Loss Per Share      
Net loss $ (99,587) $ (37,333) $ (275,528)
Paid-in-kind dividend on Series C convertible preferred stock (8,000) (8,000) (8,196)
Net loss attributable to common shareholders $ (107,587) $ (45,333) $ (283,724)
Weighted average common shares issued and outstanding - basic (in shares) 48,737,377 48,987,295 45,927,591
Weighted average common shares issued and outstanding - diluted (in shares) 48,737,377 48,987,295 45,927,591
Net loss per share attributable to common stockholders - basic (in dollar per share) $ (2.21) $ (0.93) $ (6.18)
Net loss per share attributable to common stockholders - diluted (in dollar per share) $ (2.21) $ (0.93) $ (6.18)