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Stock-based Compensation - Stock Options Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2023
Dec. 31, 2022
Number of Options    
Outstanding (in shares) 9,760,657  
Granted (in shares) 297,518  
Exercised (in shares) (78,636)  
Cancelled (in shares) (715,062)  
Outstanding (in shares) 9,264,477 9,760,657
Exercisable (in shares) 4,131,906  
Unvested (in shares) 5,132,571  
Weighted- Average Exercise Price    
Outstanding (usd per share) $ 39.43  
Granted (usd per share) 17.40  
Exercised (usd per share) 4.94  
Cancelled (usd per share) 39.58  
Outstanding (usd per share) 38.96 $ 39.43
Exercisable, weighted-average exercise price (usd per share) 29.63  
Unvested, weighted-average exercise price (usd per share) $ 46.47  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]    
Outstanding, weighted-average remaining contractual, term 7 years 5 months 15 days 8 years 2 months 1 day
Exercisable, weighted-average remaining contractual, term 6 years 2 months 8 days  
Unvested, weighted-average remaining contractual, term 8 years 5 months 26 days  
Outstanding, aggregate intrinsic value, outstanding $ 10,460 $ 8,050
Exercisable, aggregate intrinsic value 10,310  
Unvested, aggregate intrinsic value $ 160  
Assumed from acquisition (in shares) 72,410