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Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share-Based Payment Arrangement, Noncash Expense [Abstract]    
Number of Shares Underlying Outstanding Options, Beginning balance 6,203,020  
RSUs granted 4,293,442  
Number of Shares Underlying Outstanding Options, Options exercised (946)  
Number of Shares Underlying Outstanding Options, Options forfeited or cancelled (1,112,411)  
Number of Shares Underlying Outstanding Options, Ending balance 9,383,105 6,203,020
Number of Shares Underlying Outstanding Options, Shares exercisable 3,984,821  
Number of Shares Underlying Outstanding Options, Vested and expected to vest 9,383,105  
Weighted-Average Exercise Price, Outstanding beginning $ 14.44  
Weighted-Average Exercise Price, Options granted 5.36  
Weighted-Average Exercise Price, Options exercised 4.76  
Weighted-Average Exercise Price, Options forfeited or cancelled 10.59  
Weighted-Average Exercise Price, Outstanding ending 10.64 $ 14.44
Weighted-Average Exercise Price, Shares exercisable 13.65  
Weighted-Average Exercise Price, Vested and expected to vest $ 10.64  
Weighted-Average Remaining Contract Term, Outstanding 8 years 2 months 12 days 8 years 4 months 24 days
Weighted-Average Remaining Contract Term, Shares exercisable 7 years 4 months 24 days  
Weighted-Average Remaining Contract Term, Vested and expected to vest 8 years 2 months 12 days  
Aggregate Intrinsic Value, Outstanding $ 45 $ 780
Aggregate Intrinsic Value, Shares exercisable 6  
Aggregate Intrinsic Value, Vested and expected to vest $ 45