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Stock-based Compensation - Schedule of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Options    
Outstanding as of December 31, 2023 (in shares) 6,023,370  
Exercised (in shares) (3,810)  
Granted (in shares) 3,766,765  
Forfeited (in shares) (1,008,687)  
Outstanding as of September 30, 2024 (in shares) 8,777,638  
Exercisable as of September 30, 2024 (in shares) 3,871,741  
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) 1.76  
Forfeited (in USD per share) 4.70  
Outstanding as of September 30, 2024 (in USD per share) 2.92  
Exercisable as of September 30, 2024 (in USD per share) 2.37  
Share based compensation arrangement by share based payment award options grants in period weighted average grant date fair value (in USD per share) $ 1.44 $ 4.42
Weighted average remaining contractual term (years)    
Outstanding as of September 30, 2024 7 years 10 months 24 days  
Exercisable as of September 30, 2024 6 years 4 months 24 days  
Aggregate Intrinsic Value    
Exercised $ 4  
Outstanding as of September 30, 2024 620  
Exercisable as of September 30, 2024 $ 619