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Equity Incentive Plans - Summary of Option Activity (Details) - 2020 and 2021 Plan - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Options, Outstanding beginning period 5,056,743  
Number of Options, Granted 3,292,702  
Number of Options, exercised (67,196)  
Number of Options, cancelled (526,946)  
Number of Options, Outstanding ending period 7,755,303 5,056,743
Number of Options, Exercisable 2,330,389  
Number of Options, Vested and expected to vest 7,755,303  
Weighted Average Exercise Price Per Share, outstanding beginning period $ 8.77  
Weighted Average Exercise Price Per Share, granted 7.91  
Weighted Average Exercise Price Per Share, exercised 0.30  
Weighted Average Exercise Price Per Share, cancelled 8.99  
Weighted Average Exercise Price Per Share, outstanding ending period 8.47 $ 8.77
Weighted Average Exercise Price Per Share, exercisable 8.74  
Weighted Average Exercise Price Per Share, Vested and expected to vest $ 8.47  
Weighted Average Remaining Contractual Term, Outstanding 8 years 8 months 12 days 9 years 2 months 12 days
Weighted Average Remaining Contractual Term, exercisable 8 years 3 months 18 days  
Weighted Average Remaining Contractual Term, Vested and expected to vest 8 years 8 months 12 days  
Aggregate Intrinsic Value, Outstanding $ 794 $ 18,503
Aggregate Intrinsic Value, Exercisable 388  
Aggregate Intrinsic Value, Vested and expected to vest $ 794