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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
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Numerator:    
Net Income (Loss) $ (55,547) $ (86,242)
Denominator:    
Weighted-average shares of common stock outstanding-basic 48,628,940 47,849,058
Weighted-average shares of common stock outstanding-diluted 48,628,940 47,849,058
Net loss per share attributable to common stockholders-basic $ (1.14) $ (1.8)
Net loss per share attributable to common stockholders-diluted $ (1.14) $ (1.8)