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Stock-Based Compensation - Additional Information (Details) - USD ($)
1 Months Ended 12 Months Ended
Aug. 31, 2022
Feb. 28, 2022
Mar. 15, 2021
Jul. 28, 2020
Jul. 31, 2020
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Expected dividend yield           0.00% 0.00% 0.00%  
Weighted-average grant date fair value of options granted (in dollars per share)           $ 6.36 $ 8.45 $ 2.01  
Tax benefit           $ 0      
Aggregate intrinsic value of options outstanding           32,721,000 $ 117,734,000    
Aggregate intrinsic value of options exercised           6,687,000 26,151,000 $ 566,000  
Aggregate intrinsic value of options exercisable           27,919,000      
Stock-based compensation           $ 7,393,000 2,742,000 $ 1,079,000  
RSU                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Service period           4 years      
Awards granted (in shares)           1,181,782      
Vested (in shares)           77,182      
Stock-based compensation           $ 3,295,000 440,000    
ESPP                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Number of shares reserved and authorized (in shares)           3,000,667      
Percent of outstanding shares           1.00%      
Stock-based compensation           $ 204,000 $ 133,000    
Issuance of shares in connection with Employee Stock Purchase Plan (in shares) 25,240 39,516              
PSUs                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Expected dividend yield           0.00%      
Awards granted (in shares)           1,395,596      
Vested (in shares)           0      
2019 Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Number of shares reserved and authorized (in shares)         10,163,772       8,682,600
Award vesting period         4 years        
Award expiration period         10 years        
Unrecognized compensation cost, options           $ 741,000      
2019 Plan | Restricted stock                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Total authorized shares of common stock reserved for future issuance (in shares)           53,331      
Service period       3 years          
Awards granted (in shares)       156,852          
Fair value of awards granted       $ 291,000          
Vested (in shares)           103,521      
2019 Plan | Stock options                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Total authorized shares of common stock reserved for future issuance (in shares)           4,823,631      
Unrecognized compensation cost, period of recognition           1 year 4 months 2 days      
2021 Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Number of shares reserved and authorized (in shares)     13,503,001     13,503,001      
Total authorized shares of common stock reserved for future issuance (in shares)           8,737,226      
Percent of outstanding shares     5.00%            
Unrecognized compensation cost, options           $ 9,561,000      
2021 Plan | RSU                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Total authorized shares of common stock reserved for future issuance (in shares)           1,346,925      
Awards granted (in shares)           1,181,782 239,936 0  
Unrecognized compensation cost, period of recognition           3 years 1 month 20 days      
Unrecognized compensation cost           $ 12,897,000      
2021 Plan | Stock options                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Total authorized shares of common stock reserved for future issuance (in shares)           2,041,634      
Unrecognized compensation cost, period of recognition           3 years 3 months 7 days      
2021 Plan | PSUs                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Total authorized shares of common stock reserved for future issuance (in shares)           1,377,216      
Awards granted (in shares)           1,395,596      
Stock-based compensation           $ 148,000