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Stockholders' Equity (Deficit) - Summary of RSU Activity (Details) - $ / shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Number of Shares Underlying RSUs    
Granted 1,035,314  
Vested (289,626)  
Forfeited (107,481)  
Weighted Average Grant Date Fair Value    
Granted $ 10.41  
Vested 17.85  
Forfeited 13.90  
Issued and unvested as of December 31, 2022 $ 13.02  
Restricted Stock Units ("RSUs")    
Weighted Average Grant Date Fair Value    
Granted   $ 14.76
Restricted Stock Units ("RSUs") | 2020 Plan    
Number of Shares Underlying RSUs    
Issued and unvested as of January 1, 2021 1,056,984  
Issued and unvested as of December 31, 2021 1,695,191 1,056,984
Weighted Average Grant Date Fair Value    
Issued and unvested as of January 1, 2022 $ 16.99  
Issued and unvested as of December 31, 2022   $ 16.99