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Equity Incentive Plans - Schedule of RSU Activity (Details) - Restricted stock units
3 Months Ended
Mar. 31, 2024
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Beginning balance (in shares) | shares 3,680,076
Granted (in shares) | shares 2,372,358
Vested (in shares) | shares (638,004)
Cancelled (in shares) | shares (310,041)
Ending balance (in shares) | shares 5,104,389
Beginning balance (in usd per share) | $ / shares $ 7.49
Granted (in usd per share) | $ / shares 1.77
Vested (in usd per share) | $ / shares 11.46
Cancelled (in usd per share) | $ / shares 4.26
Ending balance (in usd per share) | $ / shares $ 4.53