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Net Loss Per Share - Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Numerator:    
Net loss $ (113,837) $ (86,075)
Denominator:    
Weighted average common shares outstanding 43,635,044 32,901,002
Less: weighted average unvested common stock issued upon early exercise of common stock options (3,322) (44,119)
Weighted average shares used to compute net loss per share, basic 43,631,722 32,856,883
Weighted average shares used to compute net loss per share, diluted 43,631,722 32,856,883
Net loss per share, basic $ (2.61) $ (2.62)
Net loss per share, diluted $ (2.61) $ (2.62)