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Equity-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Mar. 31, 2022
Jun. 30, 2021
Dec. 31, 2022
Dec. 31, 2021
Jan. 01, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Options granted term     8 years 3 months 21 days    
Options granted, weighted average grant date fair value     $ 9.02 $ 15.73  
Unrecognized compensation costs     $ 66,000 $ 75,800  
Unrecognized compensation costs, recognition period     2 years 10 months 24 days 3 years 2 months 12 days  
Options exercised, intrinsic value     $ 13,100 $ 10,700  
Common stock, par value     $ 0.0001 $ 0.0001  
Common stock, shares issued     45,796,449 44,292,102  
Equity-based compensation expense     $ 27,957 $ 24,375  
Purchase of shares 6,700,000 700,000      
Net issuance of common stock under equity-based compensation plans     $ 6,020 $ 3,281  
Common stock issuable upon exercise of stock options, weighted average exercise price     $ 4.31 $ 4.30  
Research and Development Expense          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Equity-based compensation expense     $ 11,018 $ 8,914  
General and Administrative          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Equity-based compensation expense     $ 16,939 $ 15,461  
RSUs          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Unrecognized compensation costs, recognition period     2 years 7 months 6 days    
Non-options unrecognized compensation cost     $ 4,300    
Fair value of non-options shares vested     $ 600    
Shares price per share     $ 12.98    
Weighted average fair value of options granted [1]     $ 13.28    
Restricted Stock Awards          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Unrecognized compensation costs, recognition period     1 year 1 year 6 months  
Non-options unrecognized compensation cost     $ 100 $ 300  
Fair value of non-options shares vested     $ 600 $ 8,500  
2021 Stock Option and Incentive Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Options granted term     10 years    
Award vesting period     4 years    
Number of shares available for grant     2,200,000    
Increase in number of shares reserved and available for issuance percentage     5.00%    
2021 Stock Option and Incentive Plan | Subsequent Event          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Increase in number of shares reserved and available for issuance         2,300,000
ESPP          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Common stock, shares reserved for future issuance     800,000    
Increase in number of shares reserved and available for issuance percentage     1.00%    
Increase in number of shares reserved and available for issuance     800,000    
ESPP | Subsequent Event          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Increase in number of shares reserved and available for issuance         500,000
ESPP | Maximum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Common stock, shares issued     100,000 100,000  
[1] The number granted represents the number of shares issuable upon vesting of service-based and market-based RSUs, assuming the Company achieves its corporate stock price metrics at the target achievement level.