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Stock-based Compensation - Stock Options Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Number of Options    
Outstanding (in shares) 6,573,744  
Granted (in shares) 4,351,371  
Exercised (in shares) (448,368)  
Canceled (in shares) (716,090)  
Outstanding (in shares) 9,760,657 6,573,744
Exercisable (in shares) 3,420,165  
Unvested (in shares) 6,340,492  
Weighted- Average Exercise Price    
Outstanding (usd per share) $ 46.03  
Granted (usd per share) 27.47  
Exercised (usd per share) 7.97  
Canceled (usd per share) 50.11  
Outstanding (usd per share) 39.43 $ 46.03
Exercisable, weighted-average exercise price (usd per share) 28.38  
Unvested, weighted-average exercise price (usd per share) $ 45.37  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]    
Outstanding, weighted-average remaining contractual, term 8 years 2 months 1 day 8 years 3 months 14 days
Exercisable, weighted-average remaining contractual, term 6 years 10 months 13 days  
Unvested, weighted-average remaining contractual, term 8 years 10 months 20 days  
Outstanding, aggregate intrinsic value, outstanding $ 8,050 $ 85,860
Exercisable, aggregate intrinsic value 7,930  
Unvested, aggregate intrinsic value $ 110  
Assumed from acquisition (in shares) 72,410