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Stock Plans - Schedule of Stock Options Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Options Outstanding    
Beginning Balance (in shares) 19,320  
Granted (in shares) 6,179  
Exercised (in shares) (1)  
Cancelled/forfeited (in shares) (2,470)  
Ending Balance (in shares) 23,028 19,320
Vested and expected to vest (in shares) 23,028  
Exercisable (in shares) 10,352  
Weighted- Average Exercise Price    
Beginning Balance (in USD per share) $ 3.38  
Granted (in USD per share) 1.05  
Exercised (in USD per share) 1.29  
Cancelled/forfeited (in USD per share) 2.46  
Ending Balance (in USD per share) 4.87 $ 3.38
Vested and expected to vest (in USD per share) 4.87  
Exercisable (in USD per share) $ 8.42  
Weighted- Average Remaining Contract Life (in years)    
Weighted- Average Remaining Contract Life (in years) 7 years 2 months 12 days 8 years
Vested and expected to vest 7 years 2 months 12 days  
Exercisable 5 years 10 months 24 days  
Outstanding, Aggregate Intrinsic Value $ 99 $ 29
Vested and expected to vest, Aggregate Intrinsic Value 99  
Exercisable, Aggregate Intrinsic Value $ 48