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Stock-Based Compensation - Schedule of option activity (Details) - $ / shares
 6 Months Ended 12 Months Ended
Jun. 30, 2023
Dec. 31, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward]    
Options, beginning balance (in shares) 4,209,255  
Options, granted (in shares) 1,458,485  
Options, exercised (in shares) (11,794)  
Options, forfeited (in shares) (276,735)  
Options, ending balance (in shares) 5,379,211 4,209,255
Options, vested and expected to vest (in shares) 5,301,567  
Options, exercisable (in shares) 2,356,736  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]    
Weighted average exercise price, beginning balance (in dollars per share) $ 8.29  
Weighted average exercise price, granted (in dollars per share) 3.41  
Weighted average exercise price, exercised (in dollars per share) 2.95  
Weighted average exercise price, forfeited (in dollars per share) 6.98  
Weighted average exercise price, ending balance (in dollars per share) 7.04 $ 8.29
Weighted average exercise price, vested and expected to vest (in dollars per share) 7.07  
Weighted average exercise price, exercisable (in dollars per share) $ 8.07  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]    
Weighted average remaining contract life, outstanding 8 years 1 month 20 days 8 years 25 days
Weighted average remaining contract life, vested and expected to vest 8 years 1 month 13 days  
Weighted average remaining contract life, exercisable 7 years 14 days