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Common Stock and Stock-Based Compensation - Summary of Stock Option Activity (Details) - Stock Options - USD ($)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2022
Dec. 31, 2021
Number of Shares    
Number of Shares, Outstanding beginning balance 3,577,485  
Number of Shares, Granted 1,330,020  
Number of Shares, Exercised (10,000)  
Number of Shares, Forfeited (137,420)  
Number of Shares, Outstanding ending balance 4,760,085 3,577,485
Number of Shares, Exercisable 2,380,117  
Number of Shares, Vested and expected to vest 4,760,085  
Weighted-Average Exercise Price    
Weighted-Average Exercise Price, Outstanding beginning balance $ 9.72  
Weighted-Average Exercise Price, Granted 4.32  
Weighted-Average Exercise Price, Exercised 0.00  
Weighted-Average Exercise Price, Forfeited 9.23  
Weighted-Average Exercise Price, Outstanding ending balance 8.24 $ 9.72
Weighted-Average Exercise Price, Exercisable 9.10  
Weighted-Average Exercise Price, Vested and expected to vest $ 8.24  
Weighted-Average Remaining Contractual Term and Aggregate Intrinsic Value    
Weighted-Average Remaining Contractual Term, Outstanding 8 years 8 months 8 days 9 years 1 month 2 days
Weighted-Average Remaining Contractual Term, Exercisable 8 years 2 months 4 days  
Weighted-Average Remaining Contractual Term, Vested and expected to vest 8 years 8 months 8 days  
Aggregate Intrinsic Value, Outstanding, beginning balance $ 491  
Aggregate Intrinsic Value, Exercised 21  
Aggregate Intrinsic Value, Outstanding, ending balance 2,435 $ 491
Aggregate Intrinsic Value, Exercisable 131  
Aggregate Intrinsic Value, Vested and expected to vest $ 2,435