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Stock Incentive Plans - Schedule of Stock Options Valuation Assumptions Using a Black-Scholes Option Pricing Model (Details) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Expected volatility, minimum 70.10% 66.30% 68.70% 64.60%
Expected volatility, maximum   71.70% 70.10% 71.70%
Weighted-average risk-free interest rate, minimum 3.20% 0.81% 1.46% 0.50%
Weighted-average risk-free interest rate, maximum 3.66% 1.03% 3.66% 1.20%
Expected dividend yield 0.00% 0.00% 0.00% 0.00%
Expected term (in years) 6 years 3 months 6 years 3 months    
Maximum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Expected term (in years)     6 years 3 months 6 years 3 months
Underlying common stock fair value $ 2.82 $ 7.75 $ 4.17 $ 13.91
Minimum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Expected term (in years)     5 years 6 months 5 years 6 months
Underlying common stock fair value $ 1.82 $ 6.36 $ 1.78 $ 6.36