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Net Loss Per Share - Schedule of Earnings Per Share, Basic and Diluted (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2024
Jun. 30, 2024
Mar. 31, 2024
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2024
Sep. 30, 2023
Numerator:                
Net loss $ (29,167) $ (25,551) $ (37,914) $ (22,263) $ (20,710) $ (28,008) $ (92,632) $ (70,981)
Denominator:                
Weighted-average common stock outstanding - basic 108,507,390     97,033,273     108,990,011 91,268,133
Weighted-average common stock outstanding - diluted 108,507,390     97,033,273     108,990,011 91,268,133
Net loss per common share - basic $ (0.27)     $ (0.23)     $ (0.85) $ (0.78)
Net loss per common share - diluted $ (0.27)     $ (0.23)     $ (0.85) $ (0.78)