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Equity Incentive Plans - Summary of Option Activity (Details) - 2020 and 2021 Plan - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Options, Beginning Balance 7,755,303  
Number of Options, Granted 2,933,350  
Options exercised 0  
Number of Options, cancelled (848,226)  
Number of Options, Ending Balance 9,840,427 7,755,303
Number of Options, Exercisable 2,890,823  
Number of Options, Vested and expected to vest 9,840,427  
Weighted Average Exercise Price Per Share, Beginning balance $ 8.47  
Weighted Average Exercise Price Per Share, granted 2.18  
Weighted Average Exercise Price Per Share, exercised 0  
Weighted Average Exercise Price Per Share, cancelled 7.93  
Weighted Average Exercise Price Per Share, Ending balance 6.64 $ 8.47
Weighted Average Exercise Price Per Share, exercisable 8.53  
Weighted Average Exercise Price Per Share, Vested and expected to vest $ 6.64  
Weighted Average Remaining Contractual Term, Outstanding 7 years 9 months 18 days 8 years 8 months 12 days
Weighted Average Remaining Contractual Term, exercisable 6 years 3 months 18 days  
Weighted Average Remaining Contractual Term, Vested and expected to vest 7 years 9 months 18 days  
Aggregate Intrinsic Value, Outstanding $ 794  
Aggregate Intrinsic Value, Outstanding 1,212 $ 794
Aggregate Intrinsic Value, Exercisable 330  
Aggregate Intrinsic Value, Vested and expected to vest $ 1,212