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Income Taxes - Summary of Changes in Gross Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]    
Balance at the beginning of the year $ 1,359 $ 777
Increases (decreases) related to tax positions taken in prior years (43) (281)
Increases related to tax positions taken in current year 1,023 863
Balance at the end of the year $ 2,339 $ 1,359