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Net Loss Per Share - Basic and Diluted Net Loss Per Share Attributable to Common Stockholders (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Numerator    
Net loss attributable to common stockholder $ (43,496) $ (35,321)
Denominator    
Weighted-average common shares outstanding, basic 115,618,209 108,785,519
Weighted-average common shares outstanding, diluted 115,618,209 108,785,519
Net loss per share attributable to common stockholders, basic $ (0.38) $ (0.32)
Net loss per share attributable to common stockholders,diluted $ (0.38) $ (0.32)