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Formation and Business of the Company (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 12 Months Ended
--- | --- | ---
Oct. 05, 2020 | Dec. 31, 2022 | Dec. 31, 2021
Subsidiary, Sale of Stock [Line Items] |  |  |
Common stock, shares authorized (in shares) | 200,000,000 | 200,000,000 | 200,000,000
Common stock, par value (in dollars per share) | $ 0.001 | $ 0.001 | $ 0.001
Convertible preferred stock, shares authorized (in shares) | 10,000,000 |  |
Preferred stock, par value (in dollars per share) | $ 0.001 | $ 0.001 | $ 0.001
Accumulated deficit |  | $ 350,318 | $ 291,395
Cash used in operating activities |  | 45,083 | $ 41,388
Cash, cash equivalents and marketable securities |  | $ 147,100 |
IPO |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |
Shares issued in transaction (in shares) | 11,500,000 |  |
Share price (in dollars per share) | $ 19.00 |  |
Proceeds from initial public offering | $ 218,500 |  |
Proceeds from initial public offering, net of issuance costs | $ 201,400 |  |
Over-Allotment Option |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |
Shares issued in transaction (in shares) | 1,500,000 |  |

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