Stock-Based Compensation - Summary of stock option activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Number of shares
Outstanding at the beginning (in shares)	2,400,315	2,414,303
Granted (in shares)	1,844,640	892,224
Forfeited (in shares)	(742,736)	(390,187)
Expired (in shares)	(903,765)
Exercised (in shares)	(49,605)	(516,025)
Outstanding at the end (in shares)	2,548,849	2,400,315	2,414,303
Options vested and exercisable (in shares)	863,746
Weighted average exercise price
Outstanding at the beginning (in dollars per share)	$ 6.28	$ 2.17
Granted (in dollars per share)	1.45	13.95
Forfeited (in dollars per share)	(5.66)	(3.73)
Expired (in dollars per share)	(5.79)
Exercised (in dollars per share)	(0.20)	(2.23)
Outstanding at the end (in dollars per share)	0.20	$ 6.28	$ 2.17
Options vested and exercisable (in dollars per share)	$ 4.75
Weighted average remaining remaining term (in years)
Outstanding (in years)		7 years 9 months 18 days	8 years 2 months 12 days
Granted (in years)	9 years 4 months 24 days	9 years 10 months 24 days
Forfeited (in years)		0 years
Expired (in years)	0 years
Exercised (in years)		0 years
Options vested and exercisable (in years)	6 years 3 months 18 days
Aggregate intrinsic value
Outstanding at the beginning (in dollars)	$ 4,224	$ 53,660
Granted (in dollars)		3,825
Forfeited (in dollars)		(7,562)
Exercised (in dollars)		(3,645)
Outstanding at the end (in dollars)	2,549	$ 4,224	$ 53,660
Options vested and exercisable	$ 148
As previously reported
Number of shares
Outstanding at the beginning (as previously reported) (in shares)			486,755
Weighted average exercise price
Outstanding at the beginning (as previously reported)			$ 10.79
Weighted average remaining remaining term (in years)
Outstanding at the beginning (as previously reported) (in years)			8 years 9 months 18 days
Aggregate intrinsic value
Outstanding at the beginning (as previously reported) (in dollars)			$ 19,572
Retroactive application of reverse recapitalization
Number of shares
Retroactive application of reverse recapitalization (in shares)			1,927,548
Weighted average exercise price
Retroactive application of reverse recapitalization (in dollars per share)			$ (8.62)