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Loss Per Share - Schedule of Potentially Dilutive Securities (Details) - shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Earnings per share [abstract]      
Share options issued and outstanding 1,542,108 1,127,585 976,220
Restricted stock subject to repurchase 221,204 416,883 179,608
Total 1,763,312 1,544,468 1,155,828