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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, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Numerator:        
Net loss attributable to common stockholders $ (11,066) $ (13,035) $ (39,661) $ (44,856)
Denominator:        
Weighted-average shares of common stock outstanding-basic 50,340,603 48,671,049 49,911,655 48,538,517
Weighted-average shares of common stock outstanding-diluted 50,340,603 48,671,049 49,911,655 48,538,517
Net loss per share attributable to common stockholders-basic $ (0.22) $ (0.27) $ (0.79) $ (0.92)
Net loss per share attributable to common stockholders-diluted $ (0.22) $ (0.27) $ (0.79) $ (0.92)