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Net Loss per Share - Summary of Basic and Diluted Net Loss per Share Attributable to Common Stockholders (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Numerator:        
Net loss $ (11,946) $ (38,093) $ (46,887) $ (72,850)
Denominator:        
Weighted-average common shares outstanding-basic 42,089,530 41,899,509 42,065,237 41,880,666
Weighted-average common shares outstanding-diluted 42,089,530 41,899,509 42,065,237 41,880,666
Net loss per share basic $ (0.28) $ (0.91) $ (1.11) $ (1.74)
Net loss per share diluted $ (0.28) $ (0.91) $ (1.11) $ (1.74)