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Stock-Based Incentive Compensation Plans - Schedule of Stock Option Activity (Details) - $ / shares
 3 Months Ended 12 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Number of Shares    
Number of shares, beginning balance (in shares) 3,446,583  
Options granted (in shares) 120,521  
Options exercised (in shares) (17,608)  
Options cancelled (in shares) (17,898)  
Number of shares, ending balance (in shares) 3,531,598 3,446,583
Vested and exercisable (in shares) 2,003,254  
Vested and expected to vest (in shares) 3,531,598  
Weighted-Average Exercise Price    
Beginning balance (in dollars per share) $ 3.61  
Options granted (in dollar per share) 1.54  
Options exercised (in dollar per share) 0.03  
Options cancelled (in dollar per share) 6.40  
Ending balance (in dollars per share) 3.54 $ 3.61
Vested and exercisable (in dollars per share) 2.66  
Vested and expected to vest (in dollars per share) $ 3.54  
Weighted Average Remaining Contractual Term (in Years)    
Balance 7 years 11 months 1 day 8 years 21 days
Vested and exercisable 7 years 8 months 8 days  
Vested and expected to vest 7 years 11 months 1 day