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Subsequent Events - Schedule of Unaudited Pro Forma Financial Information (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Subsequent Event [Line Items]    
Net loss $ (117,165) $ (154,536)
Net loss per share - basic (in USD per share) $ (1.16) $ (1.56)
Net loss per share - diluted (in USD per share) $ (1.16) $ (1.56)
Weighted-average common shares used to compute net loss per share - basic (in shares) 100,824 99,251
Weighted-average common shares outstanding - diluted (in shares) 100,824 99,251
Pro Forma    
Subsequent Event [Line Items]    
Net loss $ (117,165)  
Net loss per share - basic (in USD per share) $ (11.62)  
Net loss per share - diluted (in USD per share) $ (11.62)  
Weighted-average common shares used to compute net loss per share - basic (in shares) 10,082  
Weighted-average common shares outstanding - diluted (in shares) 10,082