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Stock-based Compensation - Stock Options Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Number of Options    
Outstanding (in shares) 9,760,657  
Granted (in shares) 1,056,332  
Exercised (in shares) (103,350)  
Canceled (in shares) (1,118,382)  
Outstanding (in shares) 9,595,257 9,760,657
Exercisable (in shares) 4,686,527  
Unvested (in shares) 4,908,730  
Weighted- Average Exercise Price    
Outstanding (usd per share) $ 39.43  
Granted (usd per share) 15.77  
Exercised (usd per share) 5.30  
Canceled (usd per share) 38.44  
Outstanding (usd per share) 37.26 $ 39.43
Exercisable, weighted-average exercise price (usd per share) 30.07  
Unvested, weighted-average exercise price (usd per share) $ 44.12  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]    
Outstanding, weighted-average remaining contractual, term 7 years 2 months 15 days 8 years 2 months 1 day
Exercisable, weighted-average remaining contractual, term 6 years 1 month 13 days  
Unvested, weighted-average remaining contractual, term 8 years 3 months 3 days  
Outstanding, aggregate intrinsic value, outstanding $ 10,300 $ 8,050
Exercisable, aggregate intrinsic value 9,410  
Unvested, aggregate intrinsic value $ 890  
Assumed from acquisition (in shares) 72,410