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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 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 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 (shares) 9,312 5,792 9,312 5,792