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Stockholders' Equity - Summary of Stock Option Activity Under Equity Incentive Plan (Details)
 12 Months Ended
Dec. 31, 2022
$ / shares
shares
Number of Shares  
Beginning balance (in shares) | shares 10,488,993
Granted (in shares) | shares 4,623,448
Exercised (in shares) | shares (118,694)
Cancelled (in shares) | shares (2,772,199)
Ending balance (in shares) | shares 12,221,548
Weighted-Average Exercise Price  
Beginning balance (in dollars per share) | $ / shares $ 7.93
Granted (in dollars per share) | $ / shares 3.11
Exercised (in dollars per share) | $ / shares 2.38
Cancelled (in dollars per share) | $ / shares 7.46
Ending balance (in dollars per share) | $ / shares $ 6.28