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Share-Based Compensation - Summary of Stock Option Activity (Details) - Stock options - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Number of shares    
Balance at the beginning (in shares) 8,049,474 6,921,180
Granted (in shares) 1,979,203 2,940,064
Exercised (in shares) (138,315) (973,389)
Forfeited (in shares) (1,225,337) (836,505)
Expired (in shares) (139,763) (1,876)
Balance at the end (in shares) 8,525,262 8,049,474
Vested options exercisable at the end (in shares) 4,598,066 2,860,085
Weighted average exercise price    
Balance at the beginning (in dollars per share) $ 2.14 $ 0.88
Granted (in dollars per share) 0.50 4.67
Exercised (in dollars per share) 0.91 0.90
Forfeited (in dollars per share) 2.36 2.35
Expired (in dollars per share) 2.18 0.97
Balance at the end (in dollars per share) 1.74 2.14
Vested options exercisable at the end (in dollars per share) $ 1.60 $ 1.34
Weighted average remaining contractual term    
Balance at the end (in years) 7 years 14 days 7 years 7 months 20 days
Vested options exercisable at the end (in years) 6 years 18 days 6 years 10 months 24 days
Aggregate intrinsic value (in thousands) $ 8,220 $ 4,081
Vested Options Exercisable $ 4,550 $ 2,061