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Stock-Based Compensation - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Aggregate intrinsic value exercised | $ 850 | $ 19,700
Unvested Restricted Stock Units |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Unrecognized compensation cost related to unvested restricted stock units | $ 12,400 |
Unrecognized compensation expense expected to be recognised (in years) | 2 years 7 months 24 days |
2021 Stock Incentive Plan |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Number of shares authorized | 7,449,480 | 5,184,455
Award expiration period | 10 years |
2017 Stock Incentive Plan |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Number of shares authorized | 5,937,763 | 5,937,763
2020 Employee Stock Purchase Plan |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Number of shares authorized | 981,306 | 654,204
Issuance of common stock under employee stock purchase plan (in shares) | 141,384 | 0

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