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Stock-based Compensation - Schedule of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Options    
Outstanding as of December 31, 2023 (in shares) 6,023,370  
Exercised (in shares) (1,579)  
Granted (in shares) 2,226,000  
Forfeited (in shares) (37,244)  
Outstanding as of March 31, 2024 (in shares) 8,210,547  
Exercisable as of March 31, 2024 (in shares) 2,737,710  
Vested and expected to vest at March 31, 2024 (in shares) 8,210,547  
Weighted average exercise price    
Outstanding as of December 31, 2023 (in USD per share) $ 3.94  
Exercised (in USD per share) 1.42  
Granted (in USD per share) 2.10  
Forfeited (in USD per share) 5.58  
Outstanding as of March 31, 2024 (in USD per share) 3.43  
Exercisable as of March 31, 2024 (in USD per share) 1.24  
Vested and expected to vest at March 31, 2024 (in USD per share) 3.43  
Share based compensation arrangement by share based payment award options grants in period weighted average grant date fair value (in USD per share) $ 1.72 $ 2.64
Weighted average remaining contractual term (years)    
Outstanding as of March 31, 2024 8 years 2 months 12 days  
Exercisable as of March 31, 2024 6 years  
Vested and expected to vest at March 31, 2024 8 years 2 months 12 days  
Aggregate Intrinsic Value    
Exercised $ 2  
Outstanding as of March 31, 2024 4,241  
Exercisable as of March 31, 2024 3,443  
Vested and expected to vest at March 31, 2024 $ 4,241