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Stock-Based Compensation - Schedule of Stock Option Activity (Details) - Stock Options - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Outstanding. Stock Options, Beginning Balance 3,649,962   674,842
Options granted, Stock Options 4,775,676 3,192,600  
Options cancelled or forfeited, Stock Options (2,048,192) (217,480)  
Options expired, Stock Options (219,368)    
Outstanding. Stock Options, Ending Balance 6,158,078 3,649,962  
Options exercisable at December 31, 2022 1,225,613    
Outstanding, Weighted Average Exercise Price, Beginning balance $ 24.13   $ 20.68
Options granted, Weighted Average Exercise Price 4.48 $ 24.99  
Options cancelled or forfeited, Weighted Average Exercise Price 15.25 26.07  
Options expired, Weighted Average Exercise Price 24.36    
Outstanding, Weighted Average Exercise Price, Ending balance 11.84 $ 24.13  
Options exercisable at December 31, 2021, Weighted Average Exercise Price $ 24.88    
Outstanding, Weighted Average Remaining Contractual Life 8 years 10 months 24 days 9 years 2 months 12 days 9 years 9 months 18 days
Weighted Average Remaining Contractual Life, Options exercisable at December 31, 2021 7 years 3 months 18 days    
Outstanding, Aggregate Intrinsic Value, Beginning Balance     $ 3,953
Outstanding, Aggregate Intrinsic Value, Ending Balance $ 62