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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 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Numerator:        
Net loss attributable to common stockholders $ (14,754) $ (23,843) $ (31,821) $ (47,106)
Denominator:        
Weighted-average shares of common stock outstanding-basic 48,536,310 47,701,451 48,471,153 47,635,840
Weighted-average shares of common stock outstanding-diluted 48,536,310 47,701,451 48,471,153 47,635,840
Net loss per share attributable to common stockholders-basic $ (0.3) $ (0.5) $ (0.66) $ (0.99)
Net loss per share attributable to common stockholders-diluted $ (0.3) $ (0.5) $ (0.66) $ (0.99)