Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]
Number of Options, Balance	5,128,639
Number of Options, Granted	1,481,234
Number of Options, Exercised	(171,838)
Number of Options, Canceled/forfeited	(241,187)
Number of Options, Balance	6,196,848	5,128,639
Number of Options, Exercisable at December 31, 2022	3,663,358
Weighted Average Exercise Price, Balance	$ 23.91
Weighted Average Exercise Price, Granted	10.89
Weighted Average Exercise Price, Exercised	3.30
Weighted Average Exercise Price, Canceled/forfeited	44.58
Weighted Average Exercise Price, Balance	20.56	$ 23.91
Weighted Average Exercise Price, Exercisable at December 31, 2022	$ 14.73
Weighted Average Remaining Contractual Life (Years), Outstanding Options	7 years 9 months 10 days	8 years 3 months 10 days
Weighted Average Remaining Contractual Life (Years), Outstanding Options Exercisable	7 years 10 days
Outstanding Options Aggregate Intrinsic Value, Balance	$ 19,872	$ 49,745
Outstanding Options Aggregate Intrinsic Value, Exercisable	$ 18,824

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired.

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Net number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Number of share options (or share units) exercised during the current period.

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