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Stock-Based Compensation - Summary of Stock Option Activity and Related Information (Details)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
USD ($)
$ / shares
shares
Options Outstanding  
Beginning balance (shares) | shares 12,709,887
Granted (shares) | shares 2,742,834
Exercised (in shares) | shares (101,160)
Forfeited (shares) | shares (1,478,588)
Ending balance (shares) | shares 13,872,973
Vested and expected to vest (shares) | shares 13,454,543
Exercisable (shares) | shares 9,859,720
Weighted-Average Exercise Price per Share  
Beginning balance (USD per share) | $ / shares $ 12.61
Granted (USD per share) | $ / shares 3.81
Exercised (USD per share) | $ / shares 4.10
Forfeited (USD per share) | $ / shares 12.05
Ending balance (USD per share) | $ / shares 11.02
Vested and expected to vest (USD per share) | $ / shares 11.10
Exercisable (USD per share) | $ / shares $ 12.12
Weighted- Average Remaining Contractual Life  
Balance (in years) 5 years 9 months 18 days
Vested and expected to vest (in years) 5 years 8 months 12 days
Exercisable (in years) 4 years 7 months 6 days
Aggregate Intrinsic Value  
Balance | $ $ 21
Vested and expected to vest | $ $ 19