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Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]    
Number of Options, Outstanding, Beginning Balance 5,720,415  
Number of Options, Granted 67,513  
Number of Options, Expired (81,151)  
Number of Options, Outstanding, Ending Balance 5,706,777 5,720,415
Number of Options, Exercisable at March 31, 2023 2,320,405  
Weighted Average Exercise Price, Beginning Balance $ 9.68  
Weighted Average Exercise Price, Granted 4.01  
Weighted Average Exercise Price, Expired 5.46  
Weighted Average Exercise Price, Ending Balance 7.94 $ 9.68
Weighted Average Exercise Price, Exercisable at March 31, 2023 $ 7.24  
Weighted Average Remaining Contractual Term, Outstanding 8 years 6 months 8 years 9 months 18 days
Weighted Average Remaining Contractual Term, Exercisable 8 years 3 months 18 days  
Aggregate Intrinsic Value, Outstanding $ 5,282 $ 72
Aggregate Intrinsic Value, Exercisable at March 31, 2023 $ 2,540