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Leases - Schedule of Maturities of Lease Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Leases [Abstract]    
2022 [1]   $ 105
2023 $ 6,684 6,639
2024 6,850 6,805
2025 7,022 6,976
Total future undiscounted lease payments 20,556 20,315
Less: Imputed interest (2,615) (3,532)
Total lease liabilities $ 17,941 $ 16,783
[1] Maturities for 2022 are net of lease incentives of $0.9 million allocated to the Palo Alto office.