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Summary of Significant Accounting Policies - Property and Equipment (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Property, equipment and software, net      
Asset impairment charges $ 0 $ 0 $ 0
Computers, software, and office equipment      
Property, equipment and software, net      
Estimated useful life 3 years    
Laboratory equipment      
Property, equipment and software, net      
Estimated useful life 5 years    
Leasehold improvements      
Property, equipment and software, net      
Leasehold improvements, estimated useful lives Shorter of useful life or life of lease