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Stock-Based Compensation - Summary of Stock Options (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of
options      
Beginning balance outstanding (in shares) 7,723,711    
Granted (in shares) 770,937    
Exercised (in shares) (149,250)   0
Forfeited, cancelled or expired (in shares) (821,427)    
Ending balance outstanding (in shares) 7,523,971 7,723,711  
Options vested and exercisable, number of stock options (in shares) 1,844,911    
Options vested and exercisable, and expected to vest thereafter, number of stock options (in shares) 7,523,971    
Weighted-average
exercise price      
Beginning balance outstanding (in usd per share) $ 12.98    
Granted (in usd per share) 18.11    
Exercised (in usd per share) 4.23    
Forfeited, cancelled or expired (in usd per share) 8.29    
Ending balance outstanding (in usd per share) 14.19 $ 12.98  
Options vested and exercisable, weighted average exercise price (in usd per share) 19.85    
Options vested and exercisable, and expected to vest thereafter, weighted average exercise price (in usd per share) $ 14.19    
Stock Option Activity, Additional Disclosures      
Outstanding, weighted average remaining contractual life 6 years 10 months 24 days 7 years 7 months 6 days  
Options vested and exercisable, weighted average remaining contractual term 7 years 1 month 6 days    
Options vested and exercisable, and expected to vest thereafter, weighted average remaining contractual term 6 years 10 months 24 days    
Outstanding, aggregate intrinsic value $ 30,867 $ 57,880  
Options vested and exercisable, aggregate intrinsic value 4,048    
Options vested and exercisable, and expected to vest thereafter, aggregate intrinsic value $ 30,867