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Stockholders' Equity - Schedule of Additional Information Regarding Stock Options (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Number of Outstanding Options    
Beginning balance (in shares) 9,352  
Granted (in shares) 4,015  
Exercised (in shares) (149)  
Forfeited/expired (in shares) (723)  
Ending balance (in shares) 12,495 9,352
Vested and expected to vest (in shares) 12,495  
Exercisable (in shares) 6,246  
Weighted- Average Exercise Price Per Share    
Outstanding (in dollars per share) $ 14.91 $ 15.28
Granted (in dollars per share) 14.47  
Exercised (in dollars per share) 3.81  
Forfeited/expired (in dollars per share) 19.52  
Vested and expected to vest (in dollars per share) 14.91  
Exercisable (in dollars per share) $ 14.39  
Weighted- Average Remaining Contractual Term (in years)    
Outstanding 7 years 10 months 28 days  
Vested and expected to vest 7 years 10 months 28 days  
Exercisable 7 years 1 month 9 days  
Aggregate Intrinsic Value    
Outstanding $ 15,833  
Vested and expected to vest 15,833  
Exercisable $ 13,061