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Share-Based Compensation - Summary of Stock Option Activity for Awards (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]    
Number of shares, Outstanding balance 5,435,304  
Number of shares, Granted 3,459,500 1,311,897
Number of shares, Exercised (270,376)  
Number of shares, forfeitures (254,450)  
Number of shares, Expired (95,331)  
Number of shares, Outstanding balance 8,274,647 5,435,304
Number of shares, Exercisable as of December 31, 2021 4,286,461  
Weighted average exercise price, Outstanding balance $ 19.77  
Weighted average exercise price, Granted 15.97  
Weighted average exercise price, Exercised 1.83  
Weighted average exercise price, Forfeitures 29.77  
Weighted average exercise price, Expired 34.72  
Weighted average exercise price, Outstanding balance 18.28 $ 19.77
Weighted average exercise price, Exercisable as of December 31, 2021 $ 14.70  
Weighted average remaining contractual life, Outstanding 7 years 7 months 6 days 8 years
Weighted average remaining contractual life, Exercisable 6 years 4 months 24 days  
Aggregate intrinsic value, Outstanding value [1] $ 20,598 $ 64,981
Aggregate intrinsic value, Exercisable as of December 31, 2021 [1] $ 18,454  
[1] The aggregate intrinsic value is calculated as the difference between the exercise price of the underlying options and the estimated fair value of the common stock for the options that were in the money at December 31, 2022 and 2021.