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Stock-Based Compensation - Summary of Combined Stock Option Activity under 2021 Plan (Details) - 2021 Plan - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Options Outstanding, Beginning balance 4,232,991  
Options, Granted 544,321  
Options, Exercised (71,642)  
Options, Cancelled/Forfeited (402,334)  
Options Outstanding, Ending balance 4,303,336 4,232,991
Options, Exercisable at December 31, 2022 2,099,094  
Weighted Average Exercise Price, Beginning balance $ 7.43  
Weighted Average Exercise Price, Granted 15.81  
Weighted Average Exercise Price, Exercised 6.00  
Weighted Average Exercise Price, Cancelled/Forfeited 12.25  
Weighted Average Exercise Price, Ending balance 8.06 $ 7.43
Weighted Average Exercise Price, Exercisable at December 31, 2022 $ 6.10  
Weighted Average Remaining Contractual Term (years) 7 years 11 months 1 day 8 years 7 months 28 days
Weighted Average Remaining Contractual Term (years), Exercisable 7 years 29 days  
Aggregate Intrinsic Value, Outstanding $ 16,204 $ 40,437
Aggregate Intrinsic Value, Exercisable at December 31, 2022 $ 10,610