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Stock-based Compensation - Summary of Stock Option Activity (Details) - Stock Options - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Shares Outstanding at December 31, 2022 17,393,396  
Shares Granted 9,025,337  
Shares Exercised (199,344)  
Shares Canceled (327,118)  
Shares Outstanding at March 31, 2023 25,892,271 17,393,396
Shares Options exercisable at March 31, 2023 8,166,304  
Weighted-average exercise price, Outstanding at December 31, 2022 $ 5.84  
Weighted-average exercise price, Granted 4.00  
Weighted-average exercise price, Exercised 0.92  
Weighted-average exercise price, Canceled 5.48  
Weighted-average exercise price, Outstanding at March 31, 2023 5.24 $ 5.84
Weighted-average exercise price, Options exercisable at March 31, 2023 $ 4.45  
Weighted-average remaining contractual term (years), Outstanding 8 years 7 months 9 days 8 years 2 months 12 days
Weighted-average remaining contractual term (years), Options exercisable at March 31, 2023 7 years 6 months 14 days  
Aggregate intrinsic value, Outstanding $ 8,752 $ 18,295
Aggregate intrinsic value, Options exercisable at March 31, 2023 $ 6,553