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Stock-Based Compensation - Summary of Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
USD ($)
$ / shares
shares
Options with Service Conditions [Member]  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]  
Number of share option outstanding, Beginning balance | shares 6,328,651
Number of share option, Granted | shares 16,473,165
Number of share option, Forfeited or canceled | shares (3,654,129)
Number of share option, Expired | shares 0
Number of share option, Exercised | shares (539,880)
Number of share option outstanding, Ending balance | shares 18,607,807
Number of share option exercisable, Ending balance | shares 3,080,958
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price, Beginning Balance | $ / shares $ 5.37
Weighted Average Exercise Price, Granted | $ / shares 4.24
Weighted Average Exercise Price, Forfeited | $ / shares 5.45
Weighted Average Exercise Price, Expired | $ / shares 0
Weighted Average Exercise Price, Exercised | $ / shares 1.74
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price, Ending Balance | $ / shares 4.46
Weighted Average Exercise Price, Exercisable at December 31, 2021 | $ / shares $ 4.56
Weighted average remaining contractual term (in years), Outstanding at December, 2021 8 years 11 months 12 days
Weighted Average Remaining Contractual Term, Exercisable at December 31, 2021 7 years 6 months 29 days
Aggregate Intrinsic Value, Exercised | $ $ 953
Aggregate Intrinsic Value, Outstanding at December 31, 2021 | $ 416
Aggregate Intrinsic Value, Exercisable at December 31, 2021 | $ $ 326
Options with Service, Market, and Performance Conditions  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]  
Number of share option outstanding, Beginning balance | shares 4,887,624
Number of share option, Granted | shares 1,273,606
Number of share option, Forfeited or canceled | shares (1,903,323)
Number of share option outstanding, Ending balance | shares 4,257,907
Number of share option exercisable, Ending balance | shares 0
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price, Beginning Balance | $ / shares $ 7.00
Weighted Average Exercise Price, Granted | $ / shares 4.09
Weighted Average Exercise Price, Forfeited | $ / shares 6.06
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price, Ending Balance | $ / shares 6.54
Weighted Average Exercise Price, Exercisable at December 31, 2021 | $ / shares $ 0
Weighted average remaining contractual term (in years), Outstanding at December, 2021 7 years 9 months 7 days
Weighted Average Remaining Contractual Term, Exercisable at December 31, 2021
Aggregate Intrinsic Value, Outstanding at December 31, 2021 | $ $ 0
Aggregate Intrinsic Value, Exercisable at December 31, 2021 | $ $ 0