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Stock-Based Compensation - Summary of Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
 6 Months Ended
Jun. 30, 2023
USD ($)
$ / shares
shares
Number of Shares  
Beginning balance (in shares) | shares 8,838,028
Granted (in shares) | shares 2,813,641
Exercised (in shares) | shares (44,644)
Canceled or forfeited (in shares) | shares (1,492,830)
Ending balance (in shares) | shares 10,114,195
Number of shares exercisable (in shares) | shares 4,922,220
Vested and expected to vest (in shares) | shares 10,114,195
Weighted Average Exercise Price per Share  
Beginning balance (in dollars per share) | $ / shares $ 13.93
Granted (in dollars per share) | $ / shares 2.83
Exercised (in dollars per share) | $ / shares 2.27
Cancelled or forfeited (in dollars per share) | $ / shares 11.87
Ending balance (in dollars per share) | $ / shares 11.20
Exercisable (in dollars per share) | $ / shares 13.13
Vested and expected to vest (in dollars per share) | $ / shares $ 11.20
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]  
Weighted average remaining contractual term outstanding 8 years 10 days
Weighted average remaining contractual term exercisable 7 years 3 months 10 days
Weighted average remaining contractual term vested and expected to vest 8 years 10 days
Aggregate intrinsic value exercised | $ $ 83
Aggregate intrinsic value outstanding | $ 68
Aggregate intrinsic value exercisable | $ 34
Aggregate intrinsic value vested and expected to vest | $ $ 68