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Share-Based Compensation - Schedule of Stock Options Roll Forward (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2024
USD ($)
$ / shares
shares
Shares  
Outstanding, beginning of period (in shares) | shares 14,795,859
Granted (in shares) | shares 2,823,625
Exercised (in shares) | shares (269,671)
Cancelled/Expired (in shares) | shares (143,997)
Outstanding, end of period (in shares) | shares 17,205,816
Exercisable (in shares) | shares 5,483,912
Weighted-Average Exercise Price per Share  
Weighted-average exercise price per share, beginning balance (in dollars per share) | $ / shares $ 6.50
Granted (in dollars per share) | $ / shares 5.65
Exercised (in dollars per share) | $ / shares 3.72
Cancelled/expired (in dollars per share) | $ / shares 8.20
Weighted-average exercise price per share, ending balance (in dollars per share) | $ / shares 6.39
Exercisable (in dollars per share) | $ / shares $ 8.43
Weighted-average remaining contractual life (in years) 8 years 6 months
Weighted-average remaining contractual life, excercisable (in years) 7 years 7 months 6 days
Aggregate intrinsic value | $ $ 15,346
Aggregate intrinsic value, exercisable | $ $ 4,003