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Stock-Based Compensation - Summary of Stock Option Activity (Details) - $ / shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Shares, Granted 359,054 3,467,069 1,723,750
2011 and 2021 Plans      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Shares Outstanding, Beginning Balance 7,953,018    
Shares, Granted 359,054    
Shares, Exercised or Released (1,250,476)    
Shares, Forfeited or Expired (523,060)    
Shares Outstanding, Ending Balance 6,538,536 7,953,018  
Shares, Exercisable 3,870,811    
Shares, Vested and Expected To Vest 6,538,536    
Weighted-Average Exercise Price, Beginning Balance $ 9.02    
Weighted-Average Exercise Price, Granted 16.08    
Weighted-Average Exercise Price, Exercised or Released 4.25    
Weighted-Average Exercise Price, Forfeited or Expired 12.89    
Weighted-Average Exercise Price, Ending Balance 10.02 $ 9.02  
Weighted-Average Exercise Price, Exercisable 7.18    
Weighted-Average Exercise Price, Vested and Expected To Vest $ 10.02    
Weighted-Average Remaining Contractual Term (Years) 7 years 4 months 9 days 8 years 1 month 28 days  
Weighted-Average Remaining Contractual Term (Years), Exercisable 6 years 5 months 15 days    
Weighted-Average Remaining Contractual Term (Years), Vested and expected to vest 7 years 4 months 9 days