Stock-based Compensation - Summary of Stock Options Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Number of Shares
Number of Shares, Outstanding	10,516,972
Number of Shares, Granted	3,884,917
Number of Shares, Exercised	(155,873)
Number of Shares, Cancelled	(613,738)
Number of Shares, Outstanding	13,632,278	10,516,972
Number of Shares, Vested and expected to vest	13,632,278
Number of Shares, Vested and exercisable	7,459,247
Weighted Average Exercise Price Per Share
Weighted Average Exercise Price Per Share, Outstanding	$ 22.87
Weighted Average Exercise Price Per Share, Granted	7.08
Weighted Average Exercise Price Per Share, Exercised	1.48
Weighted Average Exercise Price Per Share, Cancelled	25.87
Weighted Average Exercise Price Per Share, Outstanding	18.48	$ 22.87
Weighted Average Exercise Price Per Share, Vested and expected to vest	18.48
Weighted Average Exercise Price Per Share, Vested and exercisable	$ 16.11
Weighted Average Remaining Contractual Term and Aggregate Intrinsic Value
Weighted Average Remaining Contractual Term (years), Outstanding	7 years 8 months 12 days	8 years 1 month 6 days
Weighted Average Remaining Contractual Term (years), Vested and expected to vest	7 years 8 months 12 days
Weighted Average Remaining Contractual Term (years), Vested and exercisable	7 years
Aggregate Intrinsic Value, Outstanding	$ 10,937	$ 31,239
Aggregate Intrinsic Value, Vested and expected to vest	10,937
Aggregate Intrinsic Value, Vested and exercisable	$ 10,348