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Net Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Numerator [Abstract]    
Net loss $ (19,474) $ (23,611)
Numerator for basic EPS - loss attributable to common stockholders (19,474) (23,611)
Numerator for diluted EPS - loss attributable to common stockholders $ (19,474) $ (23,611)
Denominator [Abstract]    
Common stock (in shares) 141,773 140,280
Denominator for basic EPS - weighted-average common stock (in shares) 141,773,000 140,280,000
Denominator for diluted EPS - weighted-average common stock (in shares) 141,773,000 140,280,000
Basic net loss per share (in dollars per share) $ (0.14) $ (0.17)
Diluted net loss per share (in dollars per share) $ (0.14) $ (0.17)
Net Loss per Share [Abstract]    
Anti-dilutive common equivalent shares (in shares) 32,222,470 28,653,077
Outstanding Options to Purchase Common Stock [Member]    
Net Loss per Share [Abstract]    
Anti-dilutive common equivalent shares (in shares) 22,101,807 24,218,892
Outstanding Restricted Stock Units [Member]    
Net Loss per Share [Abstract]    
Anti-dilutive common equivalent shares (in shares) 6,152,344 465,866
Outstanding Warrants [Member]    
Net Loss per Share [Abstract]    
Anti-dilutive common equivalent shares (in shares) 3,968,319 3,968,319