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Stock Plans - Summary of Stock Option Activity (Details) - $ / shares
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Number of Shares      
Number of shares, beginning balance (in shares) 3,038,970 2,835,265  
Granted (in shares) 690,218 588,980  
Exercised (in shares) (157,447) (300,768)  
Canceled (in shares) (125,158) (84,507)  
Number of shares, ending balance (in shares) 3,446,583 3,038,970 2,835,265
Vested and exercisable (in shares) 1,682,772    
Vested and expected to vest (in shares) 3,446,583    
Weighted-Average Exercise Price      
Beginning balance (in dollars per share) $ 2.61 $ 0.03  
Granted (in dollar per share) 7.83 13.40  
Exercised (in dollar per share) 0.03 0.03  
Canceled (in dollar per share) 6.99 0.48  
Ending balance (in dollars per share) 3.61 $ 2.61 $ 0.03
Vested and exercisable (in dollars per share) 2.13    
Vested and expected to vest (in dollars per share) $ 3.61    
Weighted Average Remaining Contractual Term (in Years)      
Balance 8 years 21 days 8 years 9 months 29 days 9 years 6 months 25 days
Vested and exercisable 7 years 9 months 3 days    
Vested and expected to vest 8 years 21 days