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Stock-Based Compensation - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 12 Months Ended
Nov. 01, 2022
Aug. 16, 2022
Sep. 30, 2021
Jul. 31, 2021
Mar. 31, 2021
Sep. 30, 2021
Jun. 30, 2021
Dec. 31, 2022
Dec. 31, 2021
Stock Based Compensation Details [Line Items]                  
Expected dividend yield               0.00%  
Weighted average grant-date fair value of stock options granted               $ 5.43 $ 4.13
Vested options to acquire shares         269,007   2,613,217    
Stock-based compensation expense recognized           $ 7,186,000 $ 13,723,000 $ 15,856,000 $ 40,010,000
Share-based payment awards accelerated the recognition of expense       $ 567,000          
Aggregate intrinsic value, stock option exercised               $ 7,997,000 $ 2,959,000
Vested options to acquire per share (in Dollars per share)         $ 3.83   $ 10.21    
Risk-free interest rate               2.70% 0.80%
Options exercised, shares                 131,256
Options exercised, value               $ 948,000 $ 197,000
Unrecognized compensation cost for options issued (in Dollars)               $ 23,508,000  
Estimated weighted-average amortization period               2 years 6 months 25 days  
Expense related to performance awards                 31,000
Award modification expense                 121,000
Unrecognized expense related to performance awards                 $ 0
Expected volatility               77.10% 80.40%
Expected term (in years)               5 years 10 months 24 days 4 years 8 months 12 days
Liabilities                  
Stock Based Compensation Details [Line Items]                  
Options exercised, value                 $ 441,000
Awards with Service Conditions                  
Stock Based Compensation Details [Line Items]                  
Options vesting period     4 years            
Vested options to acquire shares     3,766,107            
Vesting percentage on closing date     50.00%            
Vesting percentage over four years     50.00%            
Vested options to acquire per share (in Dollars per share)     $ 10.23            
Awards with Market Conditions                  
Stock Based Compensation Details [Line Items]                  
Vested options to acquire shares     2,469,282            
Vested options to acquire per share (in Dollars per share)     $ 6.32            
Vesting description                 vest in up to five equal installments in respect of achieving certain share price targets between the third and fourth anniversary of the effective date
Reversed stock-based compensation expenses               $ 1,681,000  
Restricted Stock Units                  
Stock Based Compensation Details [Line Items]                  
Options vesting period               2 years  
Stock-based compensation expense recognized               $ 4,787,000 $ 222,000
Unrecognized compensation cost for options issued (in Dollars)               $ 13,367,000  
Estimated weighted-average amortization period               2 years 8 months 26 days  
Restricted Stock Units | After 1 Year                  
Stock Based Compensation Details [Line Items]                  
Vesting percentage               50.00%  
Restricted Stock Units | After 2 Years                  
Stock Based Compensation Details [Line Items]                  
Vesting percentage               50.00%  
Awards With Performance Conditions                  
Stock Based Compensation Details [Line Items]                  
Expected dividend yield               0.00%  
Weighted average grant-date fair value of stock options granted   $ 2.99              
Options granted to acquire shares   1,050,000              
Stock option vesting   800,000              
Risk-free interest rate               2.95%  
Unrecognized compensation cost for options issued (in Dollars)               $ 1,175,000  
Expected volatility               79.90%  
Expected term (in years)               5 years  
Awards With Performance Conditions | Initial Tranche                  
Stock Based Compensation Details [Line Items]                  
Vested options to acquire shares   250,000              
Awards With Performance Conditions | Second Tranche                  
Stock Based Compensation Details [Line Items]                  
Vested options to acquire shares 200,000                
Awards With Performance Conditions | Initial and Second Tranche                  
Stock Based Compensation Details [Line Items]                  
Stock-based compensation expense recognized               $ 881,000  
Stock Options                  
Stock Based Compensation Details [Line Items]                  
Stock-based compensation expense recognized               10,702,000 39,122,000
Research and Development Expense                  
Stock Based Compensation Details [Line Items]                  
Stock-based compensation expense recognized             $ 6,861,000 2,118,000 11,105,000
Research and Development Expense | Awards with Service Conditions                  
Stock Based Compensation Details [Line Items]                  
Stock-based compensation expense recognized           3,388,000      
Selling, General and Administrative Expense                  
Stock Based Compensation Details [Line Items]                  
Stock-based compensation expense recognized             $ 6,862,000 $ 13,328,000 $ 28,833,000
Selling, General and Administrative Expense | Awards with Service Conditions                  
Stock Based Compensation Details [Line Items]                  
Stock-based compensation expense recognized           $ 3,798,000      
2017 Plan                  
Stock Based Compensation Details [Line Items]                  
Number of shares remaining available for future grant               32,342,049  
Percentage of fair market value               100.00%  
2017 Plan | Maximum                  
Stock Based Compensation Details [Line Items]                  
Stock option, expiration period               10 years  
Options vesting period               4 years  
2017 Plan | Minimum                  
Stock Based Compensation Details [Line Items]                  
Options vesting period               3 years  
2021 Plan                  
Stock Based Compensation Details [Line Items]                  
Percentage of shares issued from outstanding capital stock, maximum               4.00%  
Number of shares issued for future issuance automatic increase period               10 years  
2021 Plan | Class A Common Stock                  
Stock Based Compensation Details [Line Items]                  
Number of shares reserved for issuance       20,915,283          
Number of shares remaining available for future grant               15,115,658