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Equity Incentive Plans and Stock-based Compensation - Option Award Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 6 Months Ended
Jun. 30, 2023
Number of Stock Option Awards  
Outstanding beginning balance (in shares) 11,485,443
Granted (in shares) 3,513,875
Exercised (in shares) (5,907)
Forfeited (in shares) (294,356)
Outstanding ending balance (in shares) 14,699,055
Options vested and expected to vest (in shares) 14,699,055
Vested and exercisable (in shares) 6,171,783
Weighted Average Exercise Price  
Outstanding beginning balance (in dollars per share) $ 4.12
Granted (in dollars per share) 2.34
Exercised (in dollars per share) 1.04
Forfeited (in dollars per share) 6.32
Outstanding ending balance (in dollars per share) 3.66
Options vested and expected to vest (in dollars per share) 3.66
Vested and exercisable (in dollars per share) $ 3.87
Options outstanding, weighted average remaining contractual life 8 years 3 months 18 days
Vested and exercisable, weighted average remaining contractual life 7 years 6 months
Options outstanding, aggregate intrinsic value $ 19,434
Vested and exercisable, aggregate intrinsic value $ 9,668