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Stock-Based Compensation - Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2023
USD ($)
$ / shares
shares
Stock-Based Compensation.  
Outstanding, number of shares (in shares) | shares 8,398,262
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 4.49
Granted, number of shares (in shares) | shares 1,144,146
Granted, weighted average exercise price (in dollars per share) | $ / shares $ 6.17
Exercised, number of shares (in shares) | shares (21,447)
Exercised, weighted average exercise price (in dollars per share) | $ / shares $ 3.68
Cancelled, number of shares (in shares) | shares (6,120)
Cancelled, weighted average exercise price (in dollars per share) | $ / shares $ 2.97
Outstanding, number of shares (in shares) | shares 9,514,841
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 4.69
Outstanding, weighted average contractual term (Year) 8 years 6 months
Outstanding, aggregate intrinsic value | $ $ 22,693
Exercisable, number of shares (in shares) | shares 4,366,134
Exercisable, weighted average exercise price (in dollars per share) | $ / shares $ 4.27
Exercisable, weighted average contractual term (Year) 7 years 9 months 18 days
Exercisable, aggregate intrinsic value | $ $ 13,072
Vested and expected to vest, number of shares (in shares) | shares 9,112,607
Vested and expected to vest, weighted average exercise price (in dollars per share) | $ / shares $ 4.69
Vested and expected to vest, weighted average contractual term (Year) 8 years 6 months
Vested and expected to vest, aggregate intrinsic value | $ $ 21,845