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Stock-Based Compensation - Schedule of Stock Option Activity (Details) - Employee stock option - USD ($)
$ / shares in Units, $ in Thousands
 6 Months Ended 12 Months Ended
Jun. 30, 2023
Dec. 31, 2022
Number of Options    
Beginning balance (in shares) 2,599,264  
Granted (in shares) 0  
Exercised (in shares) 0  
Forfeited and cancelled (in shares) (102,770)  
Ending balance (in shares) 2,496,494 2,599,264
Exercisable (in shares) 2,260,042  
Vested and expected to vest, number of options (in shares) 2,496,494  
Weighted- Average Exercise Price    
Beginning balance (in dollars per share) $ 8.41  
Granted (in dollars per share) 0  
Exercised (in dollars per share) 0  
Forfeited and cancelled (in dollars per share) 22.14  
Ending balance (in dollars per share) 7.85 $ 8.41
Exercisable (in dollars per share) 7.40  
Vested and expected to vest, weighted-average exercise price (in dollars per share) $ 7.85  
Weighted- Average Remaining Contractual Term (years)    
Weighted average remaining contractual term (in years) 6 years 3 months 18 days 7 years 2 months 12 days
Weighted average remaining contractual term, exercisable (in years) 6 years 1 month 6 days  
Vested and expected to vest, weighted-average remaining contractual term (in years) 6 years 3 months 18 days  
Aggregate Intrinsic Value (in thousands)    
Beginning aggregate intrinsic value $ 0  
Exercised, aggregate intrinsic value 0  
Ending aggregate intrinsic value 0 $ 0
Exercisable aggregate intrinsic value 0  
Vested and expected to vest, aggregate intrinsic value $ 0