Equity Incentive Plans and Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
Mar. 31, 2023	Dec. 31, 2022
Equity [Abstract]
Number of Outstanding Options, Beginning balance	5,890,869
Number of Outstanding Options, Granted	541,300
Number of Outstanding Options, Exercised	(97,227)
Cancelled	208,849
Number of Outstanding Options, Ending balance	6,126,093	5,890,869
Number of Outstanding Options, Exercisable	1,975,304
Number of Outstanding Options, Vested and expected to vest	6,126,093
Weighted- Average Exercise Price, Beginning balance	$ 7.91
Weighted- Average Exercise Price, Granted	8.55
Weighted- Average Exercise Price, Exercised	1.68
Weighted- Average Exercise Price, Cancelled	11.68
Weighted- Average Exercise Price, Ending balance	7.94	$ 7.91
Weighted- Average Exercise Price, Exercisable	7.06
Weighted- Average Exercise Price, Vested and expected to vest	$ 7.94
Weighted- Average Remaining Contractual Term	8 years 6 months	8 years 9 months 18 days
Weighted- Average Remaining Contractual Term, Exercisable	7 years 6 months
Weighted- Average Remaining Contractual Term, Vested and expected to vest	8 years 6 months
Aggregate Intrinsic Value, Beginning balance	$ 13,492
Aggregate Intrinsic Value, Exercised	20,377
Aggregate Intrinsic Value, Ending balance	55,897	$ 13,492
Aggregate Intrinsic Value, Vested and expected to vest	$ 55,897

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired.

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Weighted average price of options that were either forfeited or expired.

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Gross number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for fully vested and expected to vest options outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of share options (or share units) exercised during the current period.

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