Stockholders’ Equity and Stock Option Plans - Summary of Stock Option Activity and Related Information (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
Mar. 31, 2023	Dec. 31, 2022
Number of Shares Underlying Outstanding Options
Beginning balance (in shares)	6,476,239
Options granted (in shares)	1,313,004
Options exercised (in shares)	(108,597)
Options canceled (in shares)	(2,570)
Options expired (in shares)	(15,538)
Ending balance (in shares)	7,662,538	6,476,239
Vested (in shares)	5,245,258
Weighted-Average Exercise Price
Beginning balance (in usd per share)	$ 7.38
Options granted (in usd per share)	15.40
Options exercised (in usd per share)	2.88
Options canceled (in usd per share)	6.14
Options expired (in usd per share)	33.92
Ending balance (in usd per share)	8.76	$ 7.38
Vested (in usd per share)	$ 5.27
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Weighted average remaining contractual term (years)	6 years 2 months 26 days	6 years 1 month 6 days
Weighted average remaining contractual term vested (in years)	5 years 2 months 23 days
Aggregate intrinsic value, awards outstanding	$ 59,796	$ 55,516
Aggregate intrinsic value, vested	$ 53,940

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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