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Stock-based Compensation - Schedule of Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
6 Months Ended
Jun. 30, 2024
USD ($)
$ / shares
shares
Jun. 30, 2023
$ / shares
Options    
Outstanding as of December 31, 2023 (in shares) | shares 6,023,370  
Exercised (in shares) | shares (3,810)  
Granted (in shares) | shares 3,674,365  
Forfeited (in shares) | shares (1,008,687)  
Outstanding as of June 30, 2024 (in shares) | shares 8,685,238  
Exercisable as of June 30, 2024 (in shares) | shares 3,487,670  
Weighted average exercise price    
Outstanding as of December 31, 2023 (in USD per share) $ 3.94  
Exercised (in USD per share) 0.99  
Granted (in USD per share) 1.77  
Forfeited (in USD per share) 4.70  
Outstanding as of June 30, 2024 (in USD per share) 2.93  
Exercisable as of June 30, 2024 (in USD per share) 2.19  
Share based compensation arrangement by share based payment award options grants in period weighted average grant date fair value (in USD per share) $ 1.45 $ 4.43
Weighted average remaining contractual term (years)    
Outstanding as of June 30, 2024 8 years 1 month 20 days  
Exercisable as of June 30, 2024 6 years 4 months 24 days  
Aggregate Intrinsic Value    
Exercised | $ $ 4  
Outstanding as of June 30, 2024 | $ 2,018  
Exercisable as of June 30, 2024 | $ $ 1,517