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Share-Based Compensation - Summary of Stock Option Activity (Details) - 2020 Plan and 2015 Plan
 6 Months Ended 12 Months Ended
Jun. 30, 2023
$ / shares
shares
Dec. 31, 2022
$ / shares
shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Number of shares, outstanding beginning balance | shares 5,519,275  
Number of shares, granted | shares 1,591,028  
Number of shares, exercised | shares (6,145)  
Number of shares, forfeited | shares (346,329)  
Number of shares, outstanding ending balance | shares 6,757,829 5,519,275
Number of shares, exercisable | shares 3,190,539  
Number of shares, vested and expected to vest | shares 6,757,829  
Weighted-average exercise price, outstanding beginning balance | $ / shares $ 17.17  
Weighted-average exercise price, granted | $ / shares 5.44  
Weighted-average exercise price, exercised | $ / shares 3.61  
Weighted-average exercise price, forfeited | $ / shares 15.08  
Weighted-average exercise price, outstanding ending balance | $ / shares 14.53 $ 17.17
Weighted-average exercise price, exercisable | $ / shares 16.68  
Weighted-average exercise price, vested and expected to vest | $ / shares $ 14.53  
Weighted-average remaining contractual term (in years), outstanding balance 7 years 8 months 12 days 8 years 1 month 6 days
Weighted-average remaining contractual term (in years), exercisable 6 years 6 months  
Weighted-average remaining contractual term (in years), vested and expected to vest 7 years 8 months 12 days