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Stockholders’ Equity (Deficit) - Common Stock Reserved for Future Issuance (Details) - $ / shares | Jun. 30, 2023 | Dec. 31, 2022
--- | --- | ---
Equity [Abstract] |  |
Common stock, shares authorized (in shares) | 500,000,000 | 500,000,000
Common stock, par or stated value (in dollars per share) | $ 0.0001 | $ 0.0001
Class of Stock [Line Items] |  |
Common stock reserved for future issuance (in shares) | 26,433,880 | 24,186,271
Common Stock Purchase Agreement |  |
Class of Stock [Line Items] |  |
Common stock reserved for future issuance (in shares) | 8,327,049 | 8,327,049
Options |  |
Class of Stock [Line Items] |  |
Common stock reserved for future issuance (in shares) | 12,056,731 | 9,875,675
Restricted Stock Units (RSUs) |  |
Class of Stock [Line Items] |  |
Common stock reserved for future issuance (in shares) | 335,884 | 447,948
Equity Plans |  |
Class of Stock [Line Items] |  |
Common stock reserved for future issuance (in shares) | 3,087,881 | 2,948,472
Employee Stock |  |
Class of Stock [Line Items] |  |
Common stock reserved for future issuance (in shares) | 546,155 | 481,627
Contingent earnout common stock |  |
Class of Stock [Line Items] |  |
Common stock reserved for future issuance (in shares) | 2,000,000 | 2,000,000
Unvested early exercised common stock |  |
Class of Stock [Line Items] |  |
Common stock reserved for future issuance (in shares) | 80,180 | 105,500

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