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Net Loss Per Share - Schedule of Basic And Diluted Net Loss per Share Attributable to Common Stockholders (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Numerator:        
Net Loss $ (11,614) $ (19,547) $ (41,953) $ (64,218)
Denominator:        
Weighted-average shares of common stock outstanding-basic 36,922,236 35,247,680 36,005,269 35,013,189
Weighted-average shares of common stock outstanding-diluted 36,922,236 35,247,680 36,005,269 35,013,189
Net loss per share attributable to common stockholders-basic $ (0.31) $ (0.55) $ (1.17) $ (1.83)
Net loss per share attributable to common stockholders-diluted $ (0.31) $ (0.55) $ (1.17) $ (1.83)