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Stock-based Compensation Expense - Summary of Stock Option Activity (Details) - 2019 Plan and 2016 Plan - Stock Option - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Shares, Outstanding, Beginning balance 5,188,354  
Number of Shares, Granted 3,711,130  
Number of Shares, Exercised (381,661)  
Number of Shares, Cancelled (2,013,743)  
Number of Shares, Outstanding, Ending balance 6,504,080 5,188,354
Number of Shares, Exercisable 2,116,037  
Weighted Average Exercise Price, Outstanding, Beginning balance $ 13.91  
Weighted Average Exercise Price, Granted 10.21  
Weighted Average Exercise Price, Exercised 8.36  
Weighted Average Exercise Price, Cancelled 14.33  
Weighted Average Exercise Price, Outstanding, Ending balance 11.99 $ 13.91
Weighted Average Exercise Price, Exercisable $ 12.99  
Weighted Average Remaining Contractual Term (in years), Outstanding 8 years 6 months 18 days 8 years 6 months 25 days
Weighted Average Remaining Contractual Term (in years), Exercisable 7 years 6 months 7 days  
Aggregate Intrinsic Value, Outstanding $ 1,885,160 $ 27,082,052
Aggregate Intrinsic Value, Exercisable $ 98,187