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Stock-based Compensation Expense - Summary of Restricted Stock Activity outside of 2019 and 2016 Plan (Details) - Grants Outside of 2016 Stock Incentive Plan and 2019 Stock Incentive Plan - Restricted Stock Units
12 Months Ended
Dec. 31, 2022
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Number of Shares, Unvested, Beginning balance | shares 0
Number of Shares, Granted | shares 126,803
Number of Shares, Vested | shares 0
Number of Shares, Cancelled | shares (50,085)
Number of Shares, Unvested, Ending balance | shares 76,718
Weighted Average Grant Date Fair Value, Unvested, Beginning balance | $ / shares $ 0
Weighted Average Grant Date Fair Value, Granted | $ / shares 10.09
Weighted Average Grant Date Fair Value, Vested | $ / shares 0
Weighted Average Grant Date Fair Value, Cancelled | $ / shares 10.65
Weighted Average Grant Date Fair Value, Unvested, Ending balance | $ / shares $ 9.73