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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Stock-Based Compensation      
Shares reserved for issuance 11,189,745    
Percentage of aggregate number of shares 5.00%    
Stock based compensation expense $ 27,041 $ 38,592 $ 11,296
Options outstanding 3,862,918 4,822,992  
Stock options      
Stock-Based Compensation      
Vesting percentage 25.00%    
Stock options | Maximum      
Stock-Based Compensation      
Vesting period 3 years    
Expiration period 10 years    
Cancellation Period after termination of employment 3 months    
Secondary market transaction      
Stock-Based Compensation      
Stock based compensation expense   $ 1,933 $ 1,616