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Net loss per share - Anti-dilutive Securities (Details) - shares
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Stock options    
Antidilutive Securities Excluded from Computation of Earnings Per Share    
Antidilutive securities excluded from computation of earnings per share, amount (in shares) 19,326,573 13,770,552
Restricted stock units    
Antidilutive Securities Excluded from Computation of Earnings Per Share    
Antidilutive securities excluded from computation of earnings per share, amount (in shares) 2,975,663 34,546
Unvested restricted stock    
Antidilutive Securities Excluded from Computation of Earnings Per Share    
Antidilutive securities excluded from computation of earnings per share, amount (in shares) 311,133 876,859
Employee stock purchase plan    
Antidilutive Securities Excluded from Computation of Earnings Per Share    
Antidilutive securities excluded from computation of earnings per share, amount (in shares) 102,381 104,576