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Net Loss per Share Attributable to Common Stockholders - Computation of Basic and Diluted Net Loss per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Numerator        
Net loss attributable to common stockholders, basic $ (15,326) $ (16,195) $ (29,075) $ (32,055)
Net loss attributable to common stockholders, diluted $ (15,326) $ (16,195) $ (29,075) $ (32,055)
Denominator        
Weighted-average common stock outstanding (in shares) 38,943,110 37,846,019 38,789,609 37,738,775
Less: weighted-average common shares subject to repurchase (in shares) (44) (27,763) (61) (42,774)
Weighted-average common shares used to compute, basic net loss per share (in shares) 38,943,066 37,818,256 38,789,548 37,696,001
Weighted-average common shares used to compute, diluted net loss per share (in shares) 38,943,066 37,818,256 38,789,548 37,696,001
Net loss per share attributable to common stockholders, basic (in dollars per share) $ (0.39) $ (0.43) $ (0.75) $ (0.85)
Net loss per share attributable to common stockholders, diluted (in dollars per share) $ (0.39) $ (0.43) $ (0.75) $ (0.85)