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Significant Accounting Policies and Concentrations of Risk - Net Loss Per Share (Details) - shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Significant Accounting Policies and Concentrations of Risk [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount (in shares) 47,539,000 56,290,000
Share-based Payment Arrangement, Option    
Significant Accounting Policies and Concentrations of Risk [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount (in shares) 41,032,000 36,520,000
Restricted Stock Units (RSUs)    
Significant Accounting Policies and Concentrations of Risk [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount (in shares) 6,507,000 4,747,000
Warrant    
Significant Accounting Policies and Concentrations of Risk [Line Items]    
Antidilutive securities excluded from computation of earnings per share, amount (in shares) 0 15,023,000