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Net Loss Per Share - Summary of Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Numerator:        
Net loss attributable to common stockholders $ (12,747) $ (16,707) $ (43,799) $ (47,834)
Denominator:        
Weighted-average common shares outstanding used to calculate net loss per share attributable to common stockholders, basic 29,841,169 25,645,421 29,809,839 21,532,537
Weighted-average common shares outstanding used to calculate net loss per share attributable to common stockholders, diluted 29,841,169 25,645,421 29,809,839 21,532,537
Net loss per share attributable to common stockholders, basic $ (0.43) $ (0.65) $ (1.47) $ (2.22)
Net loss per share attributable to common stockholders, diluted $ (0.43) $ (0.65) $ (1.47) $ (2.22)