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Stockholders' Equity (Deficit) - Summary of Non-Vested Options (Details) - $ / shares
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Number of shares        
Beginning balance (in shares) 4,787,787 4,972,755 6,211,902  
Granted (in shares) 0 2,811,098 2,176,157  
Forfeited (in shares) (675,375) (452,738) (624,481)  
Vested (in shares) (2,281,344) (2,543,328) (2,790,823)  
Ending balance (in shares) 1,831,068 4,787,787 4,972,755  
Weighted Average Grant Date Fair Value Per Share        
Beginning balance (in dollars per share) $ 5.36 $ 6.10 $ 1.22 $ 0.72
Granted (in dollars per share) 8.53 1.93  
Forfeited (in dollars per share) 5.36 3.76 0.81  
Vested (in dollars per share) 6.89 2.50 0.71  
Ending balance (in dollars per share) $ 5.36 $ 6.10 $ 1.22