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Stock-based Compensation - Schedule of Options Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 6 Months Ended
Jun. 30, 2023
Total Options  
Beginning balance (in shares) 2,556,733
Vested exercised (in shares) (502,704)
Forfeitures (in shares) (691,906)
Ending balance (in shares) 1,362,123
Total options exercisable (in shares) 917,812
Weighted- Average Exercise Price Per Share  
Options outstanding, weighted-average exercise price per share, beginning balance (in dollars per share) $ 1.21
Vested exercised (in dollars per share) 0.26
Forfeitures (in dollars per share) 1.87
Options outstanding, weighted-average exercise price per share, ending balance (in dollars per share) 1.24
Options exercisable, weighted-average exercise price per share (in dollars per share) $ 0.87
Stock Options Additional Disclosures  
Options outstanding, weighted-average remaining contractual term (in years) 7 years
Options exercisable, weighted-average remaining contractual term (in years) 6 years 6 months
Options outstanding, aggregate intrinsic value $ 35
Options exercisable, aggregate intrinsic value $ 31
Vested and Expected to Vest  
Total options vested and expected to vest (in shares) 1,362,123
Options vested and expected to vest, weighted-average exercise price per share (in dollars per share) $ 1.24
Options vested and expected to vest, weighted-average remaining contractual term (in years) 7 years
Options vested and expected to vest, aggregate intrinsic value $ 35