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Net Loss Per Share Attributable to Common Stockholders - Schedule of Computation of Basic and Diluted Net Loss per Share Attributable to Common Stockholders (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Numerator:        
Net loss attributable to common stockholders $ (22,229) $ (17,169) $ (69,335) $ (47,024)
Denominator:        
Weighted-average shares of common stock outstanding-basic 47,910,541 39,849,769 47,728,845 19,772,145
Weighted-average shares of common stock outstanding-diluted 47,910,541 39,849,769 47,728,845 19,772,145
Net loss per share attributable to common stockholders-basic $ (0.46) $ (0.43) $ (1.45) $ (2.38)
Net loss per share attributable to common stockholders-diluted $ (0.46) $ (0.43) $ (1.45) $ (2.38)