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Net Loss per Common Share - Schedule of Computation of Basic and Diluted Loss per Share Attributable to Stockholders (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ 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 attributable to common stockholders $ (10,949) $ (13,356) $ (18,702) $ (13,699) $ (15,824) $ (15,586) $ (43,007) $ (45,109)
Denominator                
Weighted-average shares outstanding, basic 79,709     40,448     78,672 36,953
Weighted-average shares outstanding, diluted 79,709     40,448     78,672 36,953
Net loss per share, basic $ (0.14)     $ (0.34)     $ (0.55) $ (1.22)
Net loss per share, diluted $ (0.14)     $ (0.34)     $ (0.55) $ (1.22)