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Net Loss Per Share - Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Numerator:        
Net loss $ (31,950) $ (53,251) $ (70,522) $ (92,182)
Denominator        
Weighted average shares of common stock outstanding, basic 70,554,718 58,556,529 66,192,348 58,100,261
Weighted average shares of common stock outstanding, diluted 70,554,718 58,556,529 66,192,348 58,100,261
Net loss per share, basic $ (0.45) $ (0.91) $ (1.07) $ (1.59)
Net loss per share, diluted $ (0.45) $ (0.91) $ (1.07) $ (1.59)