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Net Loss Per Share Attributable to Common Stockholders - Computation of Basic and Diluted Net Loss per Share (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Basic      
Net loss attributable to common stockholders - basic $ (66,515) $ (119,414) $ (122,942)
Shares used in per share calculation - basic (in shares) 28,016 27,359 26,781
Net income (loss) attributable to common stockholders per share - basic (in dollars per share) $ (2.37) $ (4.36) $ (4.59)
Diluted:      
Net loss attributable to common stockholders - diluted (in shares) $ (66,515) $ (119,414) $ (122,942)
Dilutive effect of common stock (in shares) 0 0 0
Shares used in per share calculation — diluted (in dollars per share) 28,016 27,359 26,781
Net loss attributable to common stockholders per share - diluted (in dollars per share) $ (2.37) $ (4.36) $ (4.59)