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v3.23.2

Stockholder's Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions |  |  | 6 Months Ended |
--- | --- | --- | --- | ---
May 17, 2023 | Mar. 30, 2021 | Jun. 30, 2023 | Jun. 30, 2022 | Jan. 01, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Number of shares reserved for issuance |  |  | 3,091,538 |  |
Weighted-average fair value of the stock options granted |  |  | $ 2.23 |  |
Total unrecognized stock-based compensation balance for unvested options |  |  | $ 15.9 |  |
Total unrecognized stock-based compensation balance for unvested options expected to be recognized period |  |  | 2 years 6 months |  |
Aggregate intrinsic value of options exercised |  |  | $ 0.1 | $ 1.2 |
Common Stock | URO |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Company issued and sold shares of common stock | 6,110,000 |  |  |  |
Public offering price | $ 6.55 |  |  |  |
Net proceeds received after deducting commissions and other offering expenses | $ 37.4 |  |  |  |
2021 Stock Incentive Plan |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Number of shares reserved for issuance |  |  |  |  | 1,450,299
2021 Employee Stock Purchase Plan |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Plan effective date |  | Mar. 30, 2021 |  |  |
Increase in number of shares reserved and available for issuance as percentage on common stock outstanding |  |  | 1.00% |  |
Number of shares purchased by employees |  |  | 0 |  |
2021 Employee Stock Purchase Plan | Common Stock |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Number of shares issued for purchase |  |  | 346,613 |  |

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