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Stock-based Compensation - Schedule of Activities Under Company's Stock Option Plans (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Number of Options    
Balances, beginning of the period 12,192,216  
Options granted 4,991,018  
Options exercised (102,221)  
Options cancelled (3,791,175)  
Balances, end of the period 13,289,838 12,192,216
Options Exercisable, end of the period 7,429,335  
Options Outstanding, Weighted-Average Exercise Price Per Share    
Balances, beginning of the period $ 9.42  
Options granted 2.93  
Options exercised 0.98  
Options cancelled 7.25  
Balances, end of the period 7.67 $ 9.42
Options Exercisable, end of the period $ 10.22  
Options Outstanding, Weighted- Average Remaining Contractual Life (years)    
Balances, end of the period 6 years 2 months 12 days  
Options Exercisable, end of the period 5 years  
Options Outstanding, Aggregate Intrinsic Value    
Options exercised $ 100,000 $ 2,200,000
Balances at December 31, 2022 29,300  
Options Exercisable-December 31, 2022 $ 10,300