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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, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Numerator:        
Net loss attributable to common stockholders $ (13,035) $ (22,229) $ (44,856) $ (69,335)
Denominator:        
Weighted-average shares of common stock outstanding-basic 48,671,049 47,910,541 48,538,517 47,728,845
Weighted-average shares of common stock outstanding-diluted 48,671,049 47,910,541 48,538,517 47,728,845
Net loss per share attributable to common stockholders-basic $ (0.27) $ (0.46) $ (0.92) $ (1.45)
Net loss per share attributable to common stockholders-diluted $ (0.27) $ (0.46) $ (0.92) $ (1.45)