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Equity Incentive Plans and Stock-based Compensation - Option Award Activity (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2024
USD ($)
$ / shares
shares
Number of Stock Option Awards  
Outstanding beginning balance (in shares) | shares 14,676,335
Granted (in shares) | shares 2,003,800
Exercised (in shares) | shares (196,414)
Forfeited (in shares) | shares (178,752)
Outstanding ending balance (in shares) | shares 16,304,969
Options vested and expected to vest (in shares) | shares 16,304,969
Vested and exercisable (in shares) | shares 8,592,134
Weighted Average Exercise Price  
Outstanding beginning balance (in dollars per share) | $ / shares $ 3.63
Granted (in dollars per share) | $ / shares 2.72
Exercised (in dollars per share) | $ / shares 1.24
Forfeited (in dollars per share) | $ / shares 3.13
Outstanding ending balance (in dollars per share) | $ / shares 3.55
Options vested and expected to vest (in dollars per share) | $ / shares 3.55
Vested and exercisable (in dollars per share) | $ / shares $ 3.85
Options outstanding, weighted average remaining contractual life 7 years 10 months 24 days
Vested and exercisable, weighted average remaining contractual life 7 years 1 month 6 days
Options outstanding, aggregate intrinsic value | $ $ 11,061
Vested and exercisable, aggregate intrinsic value | $ $ 7,785