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Stockholder's Equity - Summary of Stock Option Activity (Details) - 2021 Plan
$ / shares in Units, $ in Thousands
 6 Months Ended 12 Months Ended
Jun. 30, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Number of Options, Outstanding | shares 6,589,479  
Number of Options, Granted | shares 1,561,115  
Number of Options, Exercised | shares (29,485)  
Number of Options, Cancelled or forfeited | shares (562,439)  
Number of Options, Outstanding | shares 7,558,670 6,589,479
Number of Options, Vested or expected to vest | shares 7,558,670  
Number of Options, Options exercisable | shares 3,695,490  
Weighted- Average Exercise Price, Outstanding | $ / shares $ 7.29  
Weighted- Average Exercise Price, Granted | $ / shares 3  
Weighted- Average Exercise Price, Exercised | $ / shares 4.11  
Weighted- Average Exercise Price, Cancelled or forfeited | $ / shares 6.18  
Weighted- Average Exercise Price, Outstanding | $ / shares 6.5 $ 7.29
Weighted- Average Exercise Price, Vested or expected to vest | $ / shares 6.5  
Weighted- Average Exercise Price, Options exercisable | $ / shares $ 6.45  
Weighted- Average Remaining Contractual Term, Outstanding 7 years 8 months 19 days 7 years 8 months 23 days
Weighted- Average Remaining Contractual Term, Vested or expected to vest 7 years 8 months 19 days  
Weighted- Average Remaining Contractual Term, Option exercisable 6 years 7 months 13 days  
Aggregate Intrinsic Value, Outstanding | $ $ 12,170 $ 362
Aggregate Intrinsic Value, Vested or expected to vest | $ 12,170  
Aggregate Intrinsic Value, Options exercisable as of June 30, 2023 | $ $ 5,915