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Net Loss Per Share - Summary of Computation of Company's Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Numerator:                
Net loss $ (49,284) $ (38,524) $ (50,050) $ (19,488) $ (26,012) $ (39,110) $ (137,858) $ (84,610)
Denominator:                
Weighted-average shares used in computing basic loss per share 60,599,025     52,345,732     59,894,181 48,622,258
Weighted-average shares used in computing diluted loss per share 60,599,025     52,345,732     59,894,181 48,622,258
Net loss per share, basic $ (0.81)     $ (0.37)     $ (2.3) $ (1.74)
Net loss per share, diluted $ (0.81)     $ (0.37)     $ (2.3) $ (1.74)