Stock-Based Compensation - Summary of Stock Option Activity (Details)	6 Months Ended	12 Months Ended
	Jun. 30, 2023 $ / shares shares	Dec. 31, 2022 $ / shares shares
Share-Based Payment Arrangement [Abstract]
Shares Outstanding, Beginning Balance | shares	6,538,536
Shares, Granted | shares	225,000
Shares, Exercised or released | shares	(365,273)
Shares, Forfeited or Expired | shares	(243,439)
Shares Outstanding, Ending Balance | shares	6,154,824	6,538,536
Shares, Exercisable | shares	3,985,190
Shares, Vested and Expected To Vest | shares	6,146,498
Weighted-Average Exercise Price, Beginning Balance | $ / shares	$ 10.02
Weighted-Average Exercise Price, Granted | $ / shares	18.33
Weighted-Average Exercise Price, Exercised or released | $ / shares	6.75
Weighted-Average Exercise Price, Forfeited or Expired | $ / shares	15.42
Weighted-Average Exercise Price, Ending Balance | $ / shares	10.3	$ 10.02
Weighted-Average Exercise Price, Exercisable | $ / shares	7.97
Weighted-Average Exercise Price, Vested and Expected To Vest | $ / shares	$ 10.29
Weighted-Average Remaining Contractual Term (Years)	7 years 1 month 9 days	7 years 4 months 9 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 1 month 9 days