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Redeemable Convertible Preferred Stock and Stockholders’ Equity - Common Stock Reserved for Future Issuance (Details) - shares | Dec. 31, 2022 | Mar. 15, 2021 | Jul. 31, 2020 | Dec. 31, 2019
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2021 Plan |  |  |  |
Class of Stock [Line Items] |  |  |  |
Shares of common stock authorized for issuance | 13,503,001 | 13,503,001 |  |
Total authorized shares of common stock reserved for future issuance (in shares) | 8,737,226 |  |  |
2021 Plan | Options outstanding |  |  |  |
Class of Stock [Line Items] |  |  |  |
Total authorized shares of common stock reserved for future issuance (in shares) | 2,041,634 |  |  |
2021 Plan | Restricted stock units issued and outstanding |  |  |  |
Class of Stock [Line Items] |  |  |  |
Total authorized shares of common stock reserved for future issuance (in shares) | 1,346,925 |  |  |
2021 Plan | Performance stock units issued and outstanding |  |  |  |
Class of Stock [Line Items] |  |  |  |
Total authorized shares of common stock reserved for future issuance (in shares) | 1,377,216 |  |  |
2019 Plan |  |  |  |
Class of Stock [Line Items] |  |  |  |
Shares of common stock authorized for issuance |  |  | 10,163,772 | 8,682,600
2019 Plan | Options outstanding |  |  |  |
Class of Stock [Line Items] |  |  |  |
Total authorized shares of common stock reserved for future issuance (in shares) | 4,823,631 |  |  |
2019 Plan | Restricted stock |  |  |  |
Class of Stock [Line Items] |  |  |  |
Total authorized shares of common stock reserved for future issuance (in shares) | 53,331 |  |  |

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