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Stock-based Compensation - Schedule of Restricted Stock Units (Details) - RSUs
 3 Months Ended
Mar. 31, 2024
$ / shares
shares
Restricted Stock Units Outstanding  
Balance at beginning of period (in shares) | shares 2,072,855
RSUs granted (in shares) | shares 3,477,351
RSUs vested (in shares) | shares (142,430)
RSUs forfeited or canceled (in shares) | shares (73,298)
Balance at end of period (in shares) | shares 5,334,478
Weighted-Average Value at Grant Date Per Share  
Balance at beginning of period (in dollars per share) | $ / shares $ 2.96
RSUs granted (in dollars per share) | $ / shares 1.81
RSUs vested (in dollars per share) | $ / shares 3.43
RSUs forfeited or canceled (in dollars per share) | $ / shares 2.24
Balance at end of period (in dollars per share) | $ / shares $ 2.21