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Equity Incentive Plans and Stock-Based Compensation - Schedule of Share-Based Compensation, Employee Stock Purchase Plan (Details) - $ / shares
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Stock Options:    
Dividend yield 0.00% 0.00%
Minimum    
Stock Options:    
Stock price $ 7.07 $ 10.96
Risk-free rate of interest 3.50% 1.60%
Expected term (years) 6 years 6 years
Expected stock price volatility 89.20% 86.40%
Maximum    
Stock Options:    
Stock price $ 13.20 $ 12.31
Risk-free rate of interest 4.20% 2.00%
Expected term (years) 6 years 1 month 6 days 6 years 1 month 6 days
Expected stock price volatility 89.70% 90.40%
Employee Stock [Member]    
Stock Options:    
Stock price $ 14.77 $ 11.03
Dividend yield 0.00% 0.00%
Employee Stock [Member] | Minimum    
Stock Options:    
Risk-free rate of interest 4.10% 0.90%
Expected term (years) 6 months 6 months
Expected stock price volatility 99.20% 80.70%
Employee Stock [Member] | Maximum    
Stock Options:    
Risk-free rate of interest 4.90% 2.00%
Expected term (years) 2 years 2 years
Expected stock price volatility 122.50% 89.80%