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Net Loss per Common Share - Schedule of Common Stock Equivalents Excluded from Diluted Net Loss Attributable to Common Stockholders (Details) - shares
shares in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]        
Total 13,801 11,651 13,801 11,651
Options to Purchase Common Stock        
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]        
Total 5,383 3,262 5,383 3,262
Shares Committed Under ESPP        
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]        
Total 22 17 22 17
Warrants        
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]        
Total 4,603 5,603 4,603 5,603
Restricted Stock Units        
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]        
Total 3,793 2,769 3,793 2,769