Stock-Based Compensation - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
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

Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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