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Stock Based Compensation - Summary of Outstanding Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 6 Months Ended 12 Months Ended
Jun. 30, 2023
Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]    
Number of stock options, Beginning balance 2,065  
Number of stock options, Granted 267  
Number of stock options, Exercised (12)  
Number of stock options, Expired/Forfeited (191)  
Number of stock options, Ending balance 2,129 2,065
Number of stock options, Vested and exercisable 1,491  
Number of stock options, Vested and expected to vest 2,129  
Weighted average exercise price, Beginning balance $ 11.78  
Weighted average exercise price, Granted 5.71  
Weighted average exercise price, Exercised 2.3  
Weighted average exercise price, Expired/Forfeited 13.08  
Weighted average exercise price, Ending balance 10.95 $ 11.78
Weighted average exercise price, Vested and exercisable 11.45  
Weighted average exercise price, Vested and expected to vest $ 10.95  
Weighted average remaining contractual term (in years) 6 years 4 months 24 days 6 years 8 months 12 days
Intrinsic value of stock options exercised $ 40  
Aggregate Intrinsic Value, Ending Balance 608 $ 758
Aggregate Intrinsic Value, Beginning Balance $ 758  
Weighted average remaining contractual term (in years), Vested and exercisable 5 years 3 months 18 days  
Weighted average remaining contractual term (in years), Vested and expected to vest 6 years 4 months 24 days  
Aggregate intrinsic value vested and exercisable $ 541  
Stock options expected to vest aggregate intrinsic value $ 608