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Stockholders' Equity - Summary of Stock Option Activity (Details) - 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 Outstanding Options, Beginning balance 7,345,444  
Number of Outstanding Options, Granted 1,730,000  
Number of Outstanding Options, Exercised (148,649)  
Number of Outstanding Options, Forfeited or cancelled (36,890)  
Number of Outstanding Options, Ending balance 8,889,905 7,345,444
Number of Outstanding Options, Vested and expected to vest 8,889,905  
Number of Outstanding Options, Exercisable 5,301,088  
Weighted- Average Exercise Price, Beginning balance $ 11.67  
Weighted- Average Exercise Price, Granted 14.06  
Weighted- Average Exercise Price, Exercised 10.63  
Weighted- Average Exercise Price, Forfeited or cancelled 16.09  
Weighted- Average Exercise Price, Ending balance 12.13 $ 11.67
Weighted- Average Exercise Price, Vested and expected to vest 12.13  
Weighted- Average Exercise Price, Exercisable $ 9.09  
Weighted- Average Remaining Contractual Term 8 years 6 months 10 days 8 years 3 months 21 days
Weighted- Average Remaining Contractual Term, Vested and expected to vest 8 years 6 months 10 days  
Weighted- Average Remaining Contractual Term, Exercisable 8 years 3 days  
Aggregate Intrinsic Value $ 24,122 $ 29,806
Aggregate Intrinsic Value, Vested and expected to vest 24,122  
Aggregate Intrinsic Value, Exercisable $ 23,378