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Net Loss per Share - Shares Not Included in Computation of Diluted Net Loss Per Share (Details) - shares
shares in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Shares issuable under the Equity Incentive Plan    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total shares excluded as anti-dilutive (in shares) 9,397 5,899