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Stock-Based Compensation - Stock Activity (Details)
$ / shares in Units, $ in Thousands
 6 Months Ended 12 Months Ended
Jun. 30, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Number of Shares Available for Issuance Under the Plan    
Beginning balance (in shares) 1,422,876  
Additional shares authorized (in shares) 1,053,433  
Options and restricted stock units granted (in shares) (488,880)  
Options canceled (in shares) 207,713  
Ending balance (in shares) 2,195,142 1,422,876
Number of Shares Outstanding Under the Plan    
Beginning balance (in shares) 812,293  
Options granted (in shares) 0  
Options exercised (in shares) (7,953)  
Options canceled (in shares) (7,852)  
Ending balance (in shares) 796,488 812,293
Exercisable (in shares) 190,912  
Unvested (in shares) 605,564  
Weighted- Average Exercise Price    
Beginning balance (in dollars per share) | $ / shares $ 263.00  
Options granted (in dollars per share) | $ / shares 0  
Options exercised (in dollars per share) | $ / shares 7.11  
Options canceled (in dollars per share) | $ / shares 29.91  
Ending balance (in dollars per share) | $ / shares 267.86 $ 263.00
Exercisable (in dollars per share) | $ / shares 5.63  
Unvested (in dollars per share) | $ / shares $ 350.53  
Weighted-Average Remaining Contractual Term and Aggregate Intrinsic Value    
Options outstanding, weighted-average remaining contractual term 6 years 9 months 10 days 7 years 3 months 7 days
Exercisable, weighted-average remaining contractual term 4 years 7 months 17 days  
Unvested, weighted-average remaining contractual term 7 years 5 months 12 days  
Options outstanding, aggregate intrinsic value | $ $ 938 $ 1,145
Exercisable, aggregate intrinsic value | $ 933  
Unvested, aggregate intrinsic value | $ $ 6  
Restricted stock units    
Number of Plan shares outstanding    
Beginning balance (in shares) 2,505,328  
Restricted stock units granted (in shares) 488,880  
Restricted stock units released (in shares) (93,442)  
Restricted stock units canceled (in shares) (199,861)  
Ending balance (in shares) 2,700,905 2,505,328
Weighted-Average Grant Date Fair Value per share    
Beginning balance (in dollars per share) | $ / shares $ 24.60  
Restricted stock units granted (in dollars per share) | $ / shares 11.59  
Restricted stock units released (in dollars per share) | $ / shares 65.78  
Restricted stock units canceled (in dollars per share) | $ / shares 36.04  
Ending balance (in dollars per share) | $ / shares $ 20.03 $ 24.60