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Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 12 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]    
Number of Stock Options Outstanding, Beginning balance 7,131,150  
Number of Stock Options, Granted 1,748,480  
Number of Stock Options, Exercised (123,168)  
Number of Stock Options, Cancelled (572)  
Number of Stock Options Outstanding, Ending balance 8,755,890 7,131,150
Number of Stock Options, Vested and exercisable 3,933,036  
Weighted Average Exercise Price, Beginning balance $ 8.37  
Weighted Average Exercise Price, Granted 9.00  
Weighted Average Exercise Price, Exercised 2.99  
Weighted Average Exercise Price, Cancelled 3.79  
Weighted Average Exercise Price, Ending balance 8.57 $ 8.37
Weighted Average Exercise Price, Vested and exercisable $ 7.57  
Weighted Average Remaining Contractual Life 7 years 11 months 8 days 7 years 7 months 9 days
Weighted Average Remaining Contractual Life, Vested and exercisable 6 years 8 months 12 days  
Aggregate Intrinsic Value $ 7,773 $ 16,849
Aggregate Intrinsic Value, Vested and exercisable $ 7,587