Consolidated Statements of Convertible Preferred Stock and Stockholders' Deficit - USD ($) $ in Thousands	Total	Preferred Stock [Member] Convertible Preferred Stock [Member]	Common Stock [Member]	Additional Paid-in Capital [Member]	Accumulated Other Comprehensive Income (Loss) [Member]	Accumulated Deficit [Member]
Beginning balance at Dec. 31, 2019	$ (180,438)	$ 537,781	$ 4	$ 8,715	$ 325	$ (189,482)
Beginning balance, shares at Dec. 31, 2019		212,642,857	4,037,476
Extinguisment upon modification of Series C Preferred Stock (Note 9)	(177,789)	$ 177,789		(15,455)	(162,334)
Conversion of convertible preferred stock into common stock upon initial public offering	715,570	$ (715,570)	$ 62	715,508
Conversion of convertible preferred stock into common stock upon initial public offering, shares		(212,642,857)	61,992,534
Issuance of common stock in initial public offering/follow-on offering, net	425,293		$ 23	425,270
Issuance of common stock in initial public offering/follow-on offering, net, Shares			23,000,000
Issuance of common stock upon exercise of stock options	1,216			1,216
Issuance of common stock upon exercise of stock options, shares			297,000
Vesting of restricted common stock	154		$ 1	153
Vesting of restricted common stock ,shares			579,825
Stock-based compensation expense	31,960			31,960
Unrealized loss on investments	(261)				(261)
Net loss	(52,412)					(52,412)
Ending balance at Dec. 31, 2020	763,293		$ 90	1,167,367	64	(404,228)
Ending balance, shares at Dec. 31, 2020			89,906,835
Extinguisment upon modification of Series C Preferred Stock (Note 9)
Issuance of common stock in follow-on offering, net, shares			15,188,679
Issuance of common stock upon exercise of stock options	4,739		$ 1	4,738
Issuance of common stock upon exercise of stock options, shares			996,536
Shares issued in connection with acquisition of ZebiAI	62,992		$ 2	62,990
Shares issued in connection with acquisition, shares			1,914,219
Issuance of common stock in follow-on offering, net	382,210		$ 15	382,195
Purchase of common stock under ESPP	1,141		$ 1	1,140
Purchase of common stock under ESPP, shares			43,685
Vesting of restricted common stock	3			3
Vesting of restricted common stock ,shares			84,489
Vesting of restricted stock units, Shares			75,875
Stock-based compensation expense	48,454			48,454
Unrealized loss on investments	(1,152)				(1,152)
Net loss	(363,872)					(363,872)
Ending balance at Dec. 31, 2021	897,808		$ 109	1,666,887	(1,088)	(768,100)
Ending balance, shares at Dec. 31, 2021			108,210,318
Extinguisment upon modification of Series C Preferred Stock (Note 9)	0
Issuance of common stock in follow-on offering, net, shares			11,320,755
Issuance of common stock upon exercise of stock options	3,480		$ 1	3,479
Issuance of common stock upon exercise of stock options, shares			757,873
Issuance of common stock upon milestone achievement	6,203			6,203
Issuance of common stock upon milestone achievement,shares			301,939
Issuance of common stock in follow-on offering, net	284,744		$ 11	284,733
Purchase of common stock under ESPP	1,686			1,686
Purchase of common stock under ESPP, shares			123,019
Vesting of restricted stock units, Shares			398,330
Stock-based compensation expense	56,138			56,138
Unrealized loss on investments	(9,332)				(9,332)
Net loss	(290,509)					(290,509)
Ending balance at Dec. 31, 2022	$ 950,218		$ 121	$ 2,019,126	$ (10,420)	$ (1,058,609)
Ending balance, shares at Dec. 31, 2022			121,112,234