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Net Loss Per Share - Narrative (Details) - $ / shares	3 Months Ended
Net Loss Per Share - Narrative (Details) - $ / shares	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023	Feb. 11, 2021
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Weighted-average exercise price average exercise price (in usd per share)	$ 2.10		$ 2.14
Vested and exercisable (in usd per share)	$ 2.35
Stock Options
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Antidilutive shares (in shares)	4,550,753	4,936,049
Weighted-average exercise price average exercise price (in usd per share)	$ 2.10	$ 2.39
Warrant
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Exercise price (in usd per shares)	$ 11.50	$ 11.50
Employee Stock Purchase Plan
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Debt conversion, converted instrument, shares issued (in shares)	18,844,600	18,844,600
Debt instrument, convertible, conversion price (in usd per share)	$ 10.61	$ 10.61
Maximum number of shares per employee (in shares)	1,128,675	2,667,501
Restricted Stock Units (RSUs)
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Shares outstanding (in shares)	1,338,151	12,882,588
Performance Shares
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Shares outstanding (in shares)	1,841,002	1,308,026
IPO Private Warrants
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Exercise price (in usd per shares)	$ 11.50		$ 11.50
IPO Private Warrants \| Warrant
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Number of securities called by warrant (in shares)	174,894	174,894
IPO Public Warrants
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Number of securities called by warrant (in shares)				1
Exercise price (in usd per shares)				$ 11.50
IPO Public Warrants \| Warrant
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Number of securities called by warrant (in shares)	12,150,878	12,150,878
2023 PIPE warrants \| Warrant
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Number of securities called by warrant (in shares)	9,000,000	13,888,889
Exercise price (in usd per shares)	$ 4.75	$ 2.39
2023 RDO warrants \| Warrant
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Number of securities called by warrant (in shares)	5,800,000
Exercise price (in usd per shares)	$ 3.78