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Stock Option and Grant Plan - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Number of Options, Outstanding 5,339,011  
Number of Options, Granted 4,237,720  
Number of Options, Exercised (950,013)  
Number of Options, Cancelled or forfeited (145,768)  
Number of Options, Outstanding 8,480,950 5,339,011
Number of Options, Options exercisable 2,055,416  
Number of Options, Options unvested 6,425,534  
Weighted-Average Exercise Price, Outstanding $ 5.54  
Weighted-Average Exercise Price, Granted 20.29  
Weighted-Average Exercise Price, Exercised 2.33  
Weighted-Average Exercise Price, Cancelled or forfeited 10.98  
Weighted-Average Exercise Price, Outstanding 13.19 $ 5.54
Weighted-Average Exercise Price, Options exercisable 6.03  
Weighted-Average Exercise Price, Options unvested $ 15.47  
Weighted- Average Remaining Contractual Term (in years), Outstanding 8 years 2 months 12 days 8 years 8 months 12 days
Weighted- Average Remaining Contractual Term (in years), Options exercisable 7 years  
Weighted- Average Remaining Contractual Term (in years), Options unvested 8 years 7 months 6 days  
Aggregate Intrinsic Value, Outstanding $ 15,627  
Aggregate Intrinsic Value, Outstanding 201,765 $ 15,627
Aggregate Intrinsic Value, Options exercisable 63,408  
Aggregate Intrinsic Value, Options unvested $ 138,357