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Income Taxes - Provision and Components of Net Loss (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Domestic and foreign components of net loss      
Domestic $ (76,779) $ (124,208) $ (125,797)
Foreign (2,176) (3,185) 246
Total net loss before taxes $ (78,955) $ (127,393) $ (125,551)