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Net Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Numerator [Abstract]    
Net loss attributable to common stockholders $ (58,335) $ (42,982)
Denominator [Abstract]    
Weighted-average common shares outstanding - basic (in shares) 79,453,519 64,509,721
Weighted-average common shares outstanding - diluted (in shares) 79,453,519 64,509,721
Net loss per share attributable to common stockholders - basic (in dollars per share) $ (0.73) $ (0.67)
Net loss per share attributable to common stockholders - diluted (in dollars per share) $ (0.73) $ (0.67)
Weighted Average Number of Shares Outstanding Reconciliation [Abstract]    
Warrants exercisable for common shares (in shares) 2,595,174 1,218,038
Restricted stock units convertible for common shares (in shares) 1,622,457 457,709
Options to purchase common shares (in shares) 14,651,390 12,047,299
Weighted average number diluted shares outstanding (in shares) 18,869,021 13,723,046