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Stock-Based Compensation - Additional Information (Details) - USD ($) |  |  |  |  | 1 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | --- | --- | ---
Aug. 31, 2022 | Feb. 28, 2022 | Mar. 15, 2021 | Jul. 28, 2020 | Jul. 31, 2020 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Expected dividend yield |  |  |  |  |  | 0.00% | 0.00% | 0.00% |
Weighted-average grant date fair value of options granted (in dollars per share) |  |  |  |  |  | $ 6.36 | $ 8.45 | $ 2.01 |
Tax benefit |  |  |  |  |  | $ 0 |  |  |
Aggregate intrinsic value of options outstanding |  |  |  |  |  | 32,721,000 | $ 117,734,000 |  |
Aggregate intrinsic value of options exercised |  |  |  |  |  | 6,687,000 | 26,151,000 | $ 566,000 |
Aggregate intrinsic value of options exercisable |  |  |  |  |  | 27,919,000 |  |  |
Stock-based compensation |  |  |  |  |  | $ 7,393,000 | 2,742,000 | $ 1,079,000 |
RSU |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Service period |  |  |  |  |  | 4 years |  |  |
Awards granted (in shares) |  |  |  |  |  | 1,181,782 |  |  |
Vested (in shares) |  |  |  |  |  | 77,182 |  |  |
Stock-based compensation |  |  |  |  |  | $ 3,295,000 | 440,000 |  |
ESPP |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares reserved and authorized (in shares) |  |  |  |  |  | 3,000,667 |  |  |
Percent of outstanding shares |  |  |  |  |  | 1.00% |  |  |
Stock-based compensation |  |  |  |  |  | $ 204,000 | $ 133,000 |  |
Issuance of shares in connection with Employee Stock Purchase Plan (in shares) | 25,240 | 39,516 |  |  |  |  |  |  |
PSUs |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Expected dividend yield |  |  |  |  |  | 0.00% |  |  |
Awards granted (in shares) |  |  |  |  |  | 1,395,596 |  |  |
Vested (in shares) |  |  |  |  |  | 0 |  |  |
2019 Plan |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares reserved and authorized (in shares) |  |  |  |  | 10,163,772 |  |  |  | 8,682,600
Award vesting period |  |  |  |  | 4 years |  |  |  |
Award expiration period |  |  |  |  | 10 years |  |  |  |
Unrecognized compensation cost, options |  |  |  |  |  | $ 741,000 |  |  |
2019 Plan | Restricted stock |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Total authorized shares of common stock reserved for future issuance (in shares) |  |  |  |  |  | 53,331 |  |  |
Service period |  |  |  | 3 years |  |  |  |  |
Awards granted (in shares) |  |  |  | 156,852 |  |  |  |  |
Fair value of awards granted |  |  |  | $ 291,000 |  |  |  |  |
Vested (in shares) |  |  |  |  |  | 103,521 |  |  |
2019 Plan | Stock options |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Total authorized shares of common stock reserved for future issuance (in shares) |  |  |  |  |  | 4,823,631 |  |  |
Unrecognized compensation cost, period of recognition |  |  |  |  |  | 1 year 4 months 2 days |  |  |
2021 Plan |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares reserved and authorized (in shares) |  |  | 13,503,001 |  |  | 13,503,001 |  |  |
Total authorized shares of common stock reserved for future issuance (in shares) |  |  |  |  |  | 8,737,226 |  |  |
Percent of outstanding shares |  |  | 5.00% |  |  |  |  |  |
Unrecognized compensation cost, options |  |  |  |  |  | $ 9,561,000 |  |  |
2021 Plan | RSU |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Total authorized shares of common stock reserved for future issuance (in shares) |  |  |  |  |  | 1,346,925 |  |  |
Awards granted (in shares) |  |  |  |  |  | 1,181,782 | 239,936 | 0 |
Unrecognized compensation cost, period of recognition |  |  |  |  |  | 3 years 1 month 20 days |  |  |
Unrecognized compensation cost |  |  |  |  |  | $ 12,897,000 |  |  |
2021 Plan | Stock options |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Total authorized shares of common stock reserved for future issuance (in shares) |  |  |  |  |  | 2,041,634 |  |  |
Unrecognized compensation cost, period of recognition |  |  |  |  |  | 3 years 3 months 7 days |  |  |
2021 Plan | PSUs |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Total authorized shares of common stock reserved for future issuance (in shares) |  |  |  |  |  | 1,377,216 |  |  |
Awards granted (in shares) |  |  |  |  |  | 1,395,596 |  |  |
Stock-based compensation |  |  |  |  |  | $ 148,000 |  |  |

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