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Equity Incentive Plan - Summary of Stock-Based Compensation Expense related to Stock-Based Payment Awards (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock-based compensation expense $ 32,854 $ 42,980
Research and Development Expense    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock-based compensation expense 10,880 17,909
General and Administrative Expense    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock-based compensation expense 12,471 11,688
Sales and Marketing Expense    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock-based compensation expense $ 9,503 $ 13,383