Annual report pursuant to Section 13 and 15(d)

Net Loss per Share Attributable to Common Stockholders - Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share (Details)

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Net Loss per Share Attributable to Common Stockholders - Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share (Details) - shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of earnings per share (in shares) 76,984,727 97,475,011 86,237,536
Common stock warrants      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of earnings per share (in shares) 28,783,333 28,783,333 28,783,333
Unvested restricted stock awards      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of earnings per share (in shares) 1,561,599 2,007,595 3,029,781
Unvested restricted stock units      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of earnings per share (in shares) 31,076,699 28,537,127 10,032,870
Unvested early exercised common stock options      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of earnings per share (in shares) 1,988,511 3,923,509 6,454,354
Options to purchase common stock      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of earnings per share (in shares) 13,574,585 17,093,447 20,807,198
Earnout Shares      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Antidilutive securities excluded from computation of earnings per share (in shares)   17,130,000 17,130,000