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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 6 Months Ended
Jun. 30, 2024
Mar. 31, 2024
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2024
Jun. 30, 2023
Numerator            
Net loss attributable to common stockholders $ (10,808) $ (13,614) $ (13,356) $ (18,702) $ (24,422) $ (32,058)
Denominator            
Weighted-average shares outstanding, basic 127,168   78,506   112,167 78,138
Weighted-average shares outstanding, diluted 127,168   78,506   112,167 78,138
Net loss per share, basic $ (0.08)   $ (0.17)   $ (0.22) $ (0.41)
Net loss per share, diluted $ (0.08)   $ (0.17)   $ (0.22) $ (0.41)