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Stock-Based Compensation - Summary of Stock Option Activity (Details) - $ / shares
6 Months Ended
Jun. 30, 2023
Number of Shares  
Beginning balance (in shares) 4,214,617
Granted (in shares) 1,502,768
Exercised (in shares) (135,101)
Forfeited (in shares) (818,558)
Ending balance (in shares) 4,763,726
Exercisable at end of period (in shares) 1,231,330
Weighted Average Exercise Price  
Beginning balance (in dollars per share) $ 16.48
Granted (in dollars per share) 17.34
Exercised (in dollars per share) 10.07
Forfeited (in dollars per share) 19.77
Ending balance (in dollars per share) 16.37
Exercisable, ending balance (in dollars per share) $ 23.06