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Equity Incentive Plan - Summary of Activity of Stock Options (Details) - Stock Options - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of Shares, Beginning balance 1,163,000 614,000 0
Number of Shares, Granted 846,000 731,000 720,000
Number of Shares, Exercised (103,000) (12,000) 0
Number of Shares, Forfeited (329,000) (170,000) (106,000)
Number of Shares, Ending balance 1,577,000 1,163,000 614,000
Number of Shares, Exercisable 324,000    
Number of Shares, Unvested and expected to vest 1,253,000    
Weighted Average Exercise Price, Beginning balance $ 13.18 $ 12.56 $ 0
Weighted Average Exercise Price, Granted 13.97 13.95 12.56
Weighted Average Exercise Price, Exercised 12.98 12.62 0
Weighted Average Exercise Price, Forfeited 13.59 14.29 12.56
Weighted Average Exercise Price, Ending balance 13.53 $ 13.18 $ 12.56
Weighted Average Exercise Price, Exercisable 12.96    
Weighted Average Exercise Price, Unvested and expected to vest $ 13.68    
Weighted Average Remaining Contractual Term, Balance 8 years 6 months 8 years 8 months 12 days  
Weighted Average Remaining Contractual Term, Exercisable 7 years 6 months    
Weighted Average Remaining Contractual Term, Unvested and expected to vest 8 years 8 months 12 days    
Aggregate Intrinsic Value, Beginning balance $ 2,636    
Aggregate Intrinsic Value, Exercised 348 $ 36  
Aggregate Intrinsic Value, Ending balance $ 619 $ 2,636  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term 8 years 6 months 8 years 8 months 12 days  
Aggregate Intrinsic Value, Exercisable $ 293    
Aggregate Intrinsic Value, Unvested and expected to vest $ 326