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Net Loss Per Share - Schedule of Computation of Basic and Diluted Net Loss Per Share (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
Basic net income (loss) per share        
Net loss $ (11,474) $ (14,387) $ (41,911) $ (46,078)
Net loss per share of common stock, basic (in dollars per share) $ (0.26) $ (0.30) $ (0.92) $ (0.97)
Net loss per share of common stock, diluted (in dollars per share) $ (0.26) $ (0.30) $ (0.92) $ (0.97)
Weighted-average common stock outstanding, basic (in shares) 43,832,475 47,640,200 45,655,106 47,357,711
Weighted-average common stock outstanding, diluted (in shares) 43,832,475 47,640,200 45,655,106 47,357,711