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Stock-Based Compensation - Stock Options (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended
Mar. 31, 2023
Jun. 30, 2022
Dec. 31, 2022
Number of Shares Subject to Options Outstanding      
Outstanding at the beginning (in shares) 8,428,441    
Granted (in shares) 612,276    
Expired (in shares) 0    
Cancelled (in shares) (161,374)    
Exercised (in shares) (4,094)    
Outstanding at the end (in shares) 8,875,249    
Number of shares subject to options outstanding, vested and expected to vest at the end (in shares) 8,497,717    
Number of shares subject to options outstanding, vested and exercisable at the end 4,890,492    
Weighted- Average Exercise Price Per Share      
Outstanding at the beginning (in usd per share) $ 3.65    
Granted (in usd per share) 3.79    
Expired (in usd per share) 0    
Cancelled (in usd per share) 6.82    
Exercised (in usd per share) 0.83    
Outstanding at the end (in usd per share) 3.61    
Weighted average exercise price per share, vested and expected to vest at the end (in usd per share) 3.57    
Weighted average exercise price per share, vested and exercisable at the end (in usd per share) $ 3.02    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]      
Weighted average remaining contractual life, outstanding 7 years 7 months 6 days 7 years 8 months 12 days  
Weighted average remaining contractual life, vested and expected to vest at the end 7 years 7 months 6 days    
Weighted average remaining contractual life, vested and exercisable at the end 6 years 8 months 12 days    
Aggregate intrinsic value, outstanding $ 9,755   $ 115
Aggregate intrinsic value, vested and expected to vest at the end 9,630    
Aggregate intrinsic value, vested and exercisable at the end $ 7,562