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Summary of Significant Accounting Policies - Net Loss Per Share - Additional Information (Details) - $ / shares
6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Mar. 31, 2023
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Total 24,202,403 16,328,914  
3.5% Convertible Notes Due 2023      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Conversion price (in usd per share)     $ 17.05
Options      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Total 22,325,095 15,492,339  
Restricted stock units      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Total 1,877,308 714,687  
Warrants      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Total 0 121,888  
Convertible debt      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Total   11,732,440