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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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