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Stock-Based Compensation - Summary of Stock Options Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Stock Options Outstanding as of December 31, 2022 3,341,834  
Stock Options, Granted 1,421,936  
Stock Options, Exercised (100,351)  
Stock Options, Canceled/Forfeited (430,216)  
Stock Options, Outstanding as of December 31, 2023 4,233,203 3,341,834
Stock Options, Vested and exercisable as of December 31, 2023 1,477,013  
Stock Options, Vested and expected to vest as of December 31, 2023 4,233,203  
Weighted Average Exercise Price, Outstanding as of December 31, 2022 $ 9.52  
Weighted Average Exercise Price, Granted 13.7  
Weighted Average Exercise price, Exercised 2.12  
Weighted Average Exercise price, Canceled/Forfeited 12.13  
Weighted Average Exercise Price, Outstanding as of December31, 2023 10.83 $ 9.52
Weighted Average Exercise Price, Vested and exercisable as of December 31, 2023 8.87  
Weighted Average Exercise Price, Vested and expected to vest as of December 31, 2023 $ 10.83  
Outstanding, Weighted Average Remaining Life 8 years 4 months 24 days 8 years 8 months 12 days
Vested and exercisable , Weighted Average Remaining Life 7 years 10 months 24 days  
Vested and expected to vest, Weighted Average Remaining Life 8 years 4 months 24 days  
Outstanding, Aggregate Intrinsic Value $ 2,147 $ 12,877
Vested and exercisable, Aggregate Intrinsic Value 1,427  
Vested and expected to vest, Aggregate Intrinsic Value $ 2,147