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Equity Incentive Plans - Summary of Estimated Grant Date Fair Value of Stock Options Granted (Details) - $ / shares
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Fair value of common stock $ 8.46  
Risk-free interest rate, minimum 4.20% 1.70%
Risk-free interest rate, maximum 4.30% 2.50%
Expected volatility, minimum 71.20% 68.20%
Expected volatility, maximum 71.60% 69.80%
Minimum    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Fair value of common stock   $ 12.14
Expected term (in years) 5 years 3 months 7 days 5 years 3 months 7 days
Maximum    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Fair value of common stock   $ 14.95
Expected term (in years) 6 years 29 days 6 years 29 days