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Stock-Based Compensation - Summary of Stock Options Activity (Details) - Stock Options [Member] - 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, Outstanding, Beginning balance 3,846,532  
Number of Options, Granted 542,052  
Number of Options, Exercised (10,769)  
Number of Options, Forfeited (118,161)  
Number of Options expired (780)  
Number of Options Outstanding, Ending Balance 4,258,874 3,846,532
Number of Options, Exercisable, Ending balance 1,584,270  
Number of Options, Vested and expected to vest 3,974,192  
Weighted Average Exercise Price per Share, Options outstanding, Beginning balance $ 7.02  
Weighted Average Exercise Price per Share, Granted 5.41  
Weighted Average Exercise Price per Share, Exercised 0.84  
Weighted Average Exercise Price per Share, forfeited 12.69  
Weighted Average Exercise Price Per Share, Expired 15.09  
Weighted Average Exercise Price per Share, Options outstanding, Ending balance 6.68 $ 7.02
Weighted Average Exercise Price per Share, Exercisable, Ending balance 5.30  
Weighted Average Exercise Price per Share, Vested and expected to vest $ 7.12  
Weighted Average Remaining Contractual Term (in years), Options outstanding at January 1, 2023 8 years 1 month 6 days 8 years 3 months 21 days
Weighted Average Remaining Contractual Term (in years), Exercisable 7 years 5 months 15 days  
Weighted Average Remaining Contractual Term (in years), Vested and expected to vest 8 years 3 months 3 days  
Aggregate Intrinsic Value, Options outstanding $ 3,783 $ 9,083
Aggregate Intrinsic Value, Exercisable 2,187  
Aggregate Intrinsic Value, Vested and expected to vest $ 3,070