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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
	Mar. 31, 2023	Mar. 31, 2022
Numerator:
Net loss attributable to common stockholders	$ (17,067)	$ (23,263)
Denominator:
Weighted-average shares of common stock outstanding-basic	48,405,271	47,569,499
Weighted-average shares of common stock outstanding-diluted	48,405,271	47,569,499
Net loss per share attributable to common stockholders-basic	$ (0.35)	$ (0.49)
Net loss per share attributable to common stockholders-diluted	$ (0.35)	$ (0.49)

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-Name Accounting Standards Codification
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Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 260
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