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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, 2024
Mar. 31, 2023
Numerator:    
Net loss attributable to common stockholders $ (16,266) $ (17,067)
Denominator:    
Weighted-average shares of common stock outstanding_basic 49,486,263 48,405,271
Weighted-average shares of common stock outstanding_ diluted 49,486,263 48,405,271
Net loss per share attributable to common stockholders_basic $ (0.33) $ (0.35)
Net loss per share attributable to common stockholders_diluted $ (0.33) $ (0.35)