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Equity Incentive Plans and Stock-Based Compensation - Summary of Option Activity (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2023
USD ($)
$ / shares
shares
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward]  
Options outstanding, Beginning Balance | shares 6,690,492
Options, Granted | shares 1,796,570
Options, Exercised | shares (16)
Options, Forfeited and cancelled | shares (12,647)
Options outstanding, Ending Balance | shares 8,474,399
Options, Exercisable | shares 1,755,709
Weighted Average Exercise Price, Options outstanding Beginning Balance | $ / shares $ 4.27
Weighted Average Exercise Price, Granted | $ / shares 6.00
Weighted Average Exercise Price, Exercised | $ / shares 1.60
Weighted Average Exercise Price, Forfeited and Cancelled | $ / shares 5.37
Weighted Average Exercise Price, Options outstanding Ending Balance | $ / shares 4.64
Weighted Average Exercise Price, Exercisable | $ / shares $ 3.92
Weighted Average Remaining Contractual Term (in years), Options outstanding 8 years 8 months 12 days
Weighted Average Remaining Contractual Term (in years), Exercisable 5 years 8 months 12 days
Aggregate Intrinsic Value, Options outstanding | $ $ 12,929
Aggregate Intrinsic Value, Exercisable | $ $ 5,938