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Stock-Based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 6 Months Ended 12 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Shares      
Shares, Outstanding, Beginning Balance (in shares) 10,098,929    
Shares, Granted (in shares) 3,177,827    
Shares, Exercised (in shares) (14,990)    
Shares, Forfeited or expired (in shares) (198,435)    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Expirations in Period (202,720)    
Shares, Outstanding, Ending Balance (in shares) 12,860,611   10,098,929
Shares, Exercisable (in shares) 7,295,883    
Shares, Vested and expected to vest (in shares) 11,839,534    
Weighted- Average Exercise Price      
Weighted- Average Exercise Price, Outstanding, Beginning Balance (in dollars per share) $ 18.58    
Weighted- Average Exercise Price, Granted (in dollars per share) 4.91    
Weighted- Average Exercise Price, Exercised (in dollars per share) 2.37    
Weighted- Average Exercise Price, Forfeited (in dollars per share) 10.05    
Weighted- Average Exercise Price, Expired (in dollars per share) 21.58    
Weighted- Average Exercise Price, Outstanding, Ending Balance (in dollars per share) 15.30   $ 18.58
Weighted- Average Exercise Price, Exercisable (in dollars per share) 20.48    
Weighted- Average Exercise Price, Vested and expected to vest (in dollars per share) $ 15.81    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]      
Weighted- Average Remaining Contractual Term, Outstanding (in years) 6 years 10 months 24 days   6 years 6 months
Weighted- Average Remaining Contractual Term, Exercisable (in years) 5 years 3 months 18 days    
Weighted- Average Remaining Contractual Term, Vested and expected to vest (in years) 6 years 8 months 12 days    
Aggregate Intrinsic Value, Outstanding, Ending Balance $ 2,093    
Aggregate Intrinsic Value, Exercisable 342    
Aggregate Intrinsic Value, Vested and expected to vest $ 1,819    
Weighted-average grant-date fair value of options granted (in dollars per share) $ 3.78 $ 6.96  
Intrinsic value of options exercised   $ 500  
Fair value of shares vested $ 3,500 $ 9,400  
Unrecognized compensation expense related to non-vested stock-options, net of related forfeiture estimates $ 26,200    
Unrecognized compensation expense recognition period (in years) 1 year 4 months 24 days