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Stock-Based Compensation - Summary of Stock Options Activity (Details) - Options to purchase Common Stock - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Number of Options    
Beginning balance (in shares) 3,771,984  
Granted (in shares) 1,737,760  
Exercised (in shares) (28,858)  
Forfeitures (in shares) (398,156)  
Expired (in shares) (13,272)  
Ending balance (in shares) 5,069,458 3,771,984
Vested and exercisable (in shares) 2,300,619  
Vested and expected to vest (in shares) 4,990,351  
Weighted-Average Exercise Price Per Share    
Outstanding (in dollars per share) $ 7.13  
Granted (in dollars per share) 3.15  
Exercised (in dollars per share) 2.60  
Forfeited (in dollars per share) 4.62  
Expired (in dollars per share) 32.52  
Outstanding (in dollars per share) 5.92 $ 7.13
Vested and exercisable (in dollars per share) 7.38  
Vested and expected to vest (in dollars per share) $ 5.94  
Intrinsic value, outstanding $ 19,322 $ 6,405,258
Intrinsic value, exercised 1,443  
Intrinsic value, vested and exercisable 12,210  
Intrinsic value, vested and expected to vest $ 18,752  
Weighted average remaining contract term, outstanding 7 years 4 months 24 days 8 years 8 months 12 days
Weighted average remaining contractual term, exercisable 5 years 8 months 12 days  
Weighted average remaining contractual term, vested and expected to vest 7 years 4 months 24 days