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Stock-Based Compensation - Summary of Stock Option Activity (Details)
$ / 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 Shares, Outstanding, beginning of period | shares 3,300,935  
Number of Shares, Granted | shares 109,789  
Number of Shares, Exercised | shares (148,258)  
Forfeited or canceled | shares (131,836)  
Number of Shares, Outstanding, Ending of period | shares 3,130,630 3,300,935
Number of Shares, Vested and expected to vest, Ending of period | shares 3,130,630  
Number of Shares, Vested and exercisable, Ending of period | shares 914,489  
Weighted-Average Exercise Price, Outstanding, beginning of period | $ / shares $ 6.29  
Weighted-Average Exercise Price, Granted | $ / shares 14.45  
Weighted-Average Exercise Price, Exercised | $ / shares 2.56  
Weighted-Average Exercise Price, Fortified or canceled | $ / shares 5.22  
Weighted-Average Exercise Price, Outstanding, ending of period | $ / shares 6.8 $ 6.29
Weighted-Average Exercise Price, Vested and expected to vest, ending of period | $ / shares 6.8  
Weighted-Average Exercise Price, Vested and exercisable, ending of period | $ / shares $ 2.64  
Weighted Average Remaining Contractual Term (in years), Outstanding 8 years 4 months 28 days 9 years 3 months 3 days
Weighted Average Remaining Contractual Term (in years), Vested and expected to vest, ending of period 8 years 4 months 28 days  
Weighted Average Remaining Contractual Term (in years), Vested and exercisable, ending of period 6 years 8 months 4 days  
Aggregate Intrinsic Value | $ $ 19,503 $ 18,346
Aggregate Intrinsic Value, Vested and expected to vest, ending of period | $ 19,503  
Aggregate Intrinsic Value, Vested and exercisable, ending of period | $ $ 9,439