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Stock-Based Compensation - Schedule of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
NUMBER OF OPTIONS    
Outstanding as of beginning of period (in shares) 2,810,684  
Granted (in shares) 1,086,458  
Exercised (in shares) (158,235)  
Cancelled or forfeited (in shares) (195,428)  
Expired (in USD per share) (10,310)  
Outstanding as of end of period (in shares) 3,533,169 2,810,684
Options vested (in shares) 1,749,888  
Option unvested (in shares) 1,783,281  
WEIGHTED- AVERAGE EXERCISE PRICE    
Outstanding as of beginning of period (in USD per share) $ 24.62  
Granted (in USD per share) 43.66  
Exercised (in USD per share) 5.17  
Cancelled or forfeited (in USD per share) 42.44  
Expired (in USD per share) (59.46)  
Outstanding as of end of period (in USD per share) 30.26 $ 24.62
Options vested (in USD per share) 19.59  
Option unvested (in USD per share) $ 40.72  
WEIGHTED-AVERAGE REMAINING CONTRACTUAL TERM (IN YEARS)    
Outstanding 7 years 9 months 7 days 8 years 1 month 9 days
Options vested 6 years 11 months 4 days  
AGGREGATE INTRINSIC VALUE    
Outstanding $ 72,434 $ 100,009
Exercised 5,637  
Options vested $ 53,895