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Stock-Based Compensation - Summary of Equity Award Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2022
Jun. 30, 2023
Dec. 31, 2022
Shares available for grant      
Beginning balance (in shares)   1,836,566  
Shares authorized (in shares)     9,102,074
Granted (in shares)   0  
Exercised (in shares)   0  
Cancelled (in shares)   216,194  
Ending balance (in shares)   10,071,114 1,836,566
Outstanding Stock Options      
Beginning balance (in shares)   12,371,281  
Options granted (in shares) 0 0  
Exercised (in shares)   (1,184,765)  
Cancelled (in shares)   (216,194)  
Ending balance (in shares)   10,970,322 12,371,281
Vested and exercisable (in shares)   8,467,027  
Weighted-average exercise Price      
Beginning balance (USD per share)   $ 5.74  
Granted (USD per share)   0  
Exercised (USD per share)   1.73  
Cancelled (USD per share)   14.54  
Ending balance (USD per share)   6.00 $ 5.74
Vested and exercisable (USD per share)   $ 4.51  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]      
Options outstanding, Weighted-average remaining contractual life (years)   5 years 9 months 21 days 6 years 25 days
Vested and exercisable, Weighted-average remaining contractual life (years)   5 years 2 months 8 days  
Options outstanding, Aggregate intrinsic value   $ 13,245 $ 32,385
Vested and exercisable, Aggregate intrinsic value   $ 12,633  
Restricted stock units outstanding      
Shares available for grant      
RSU award activity (in shares)   (1,083,720)