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Equity Incentive Plans and Stock-Based Compensation - Summary of Restricted Stock Activity (Details) - Restricted stock units
6 Months Ended
Jun. 30, 2023
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Outstanding and unvested, beginning balance (in shares) | shares 507,925
Granted (in shares) | shares 671,708
Forfeited (in shares) | shares (18,647)
Outstanding and unvested, ending balance (in shares) | shares 1,160,986
Weighted Average Grant Date Fair Value  
Weighted-Average Grant Date fair value, Outstanding and unvested, beginning balance (USD per share) | $ / shares $ 17.43
Weighted-Average Grant Date fair value, Issued (USD per share) | $ / shares 34.65
Weighted- Average Exercise Price per Share, Forfeited (USD per share) | $ / shares 22.60
Weighted-Average Grant Date fair value, Outstanding and unvested, ending balance (USD per share) | $ / shares $ 27.31