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Net Loss Per Share - Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2022
Mar. 31, 2022
Jun. 30, 2023
Jun. 30, 2022
Numerator:            
Net loss $ (33,287) $ (30,815) $ (26,923) $ (25,987) $ (64,102) $ (52,910)
Denominator:            
Weighted average common shares outstanding 48,970,457   43,844,869   48,946,131 38,452,511
Less: weighted average unvested common stock issued upon early exercise of common stock options (66)   (3,477)   (113) (5,555)
Weighted average shares used to compute net loss per share, basic 48,970,391   43,841,392   48,946,018 38,446,956
Weighted average shares used to compute net loss per share, diluted 48,970,391   43,841,392   48,946,018 38,446,956
Net loss per share, basic $ (0.68)   $ (0.61)   $ (1.31) $ (1.38)
Net loss per share, diluted $ (0.68)   $ (0.61)   $ (1.31) $ (1.38)