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Net Loss per Share Attributable to Common Stockholders - Schedule of Computation of Basic and Diluted Net Loss per Share Attributable to Common Stockholders (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Numerator:    
Net loss attributable to common stockholders $ (86,242) $ (62,960)
Denominator:    
Weighted-average shares of common stock outstanding-basic 47,849,058 26,734,097
Weighted-average shares of common stock outstanding-diluted 47,849,058 26,734,097
Net loss per share attributable to common stockholders-basic $ (1.80) $ (2.36)
Net loss per share attributable to common stockholders-diluted $ (1.80) $ (2.36)