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Income Taxes - Summary of Valuation Allowance (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Deferred Tax Asset, Valuation Allowance [Roll Forward]      
Balance at the beginning of the period $ 74,244 $ 49,159 $ 40,913
Increase in valuation allowance 27,202 25,085 8,246
Balance at the end of the period $ 101,446 $ 74,244 $ 49,159