Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward]
Shares, Outstanding at December 31, 2021	5,086,792
Shares, Granted	3,045,264
Shares, Vested and exercised	(671,796)
Shares, Forfeited	(889,678)
Shares, Expired	(99,058)
Shares, Outstanding at December 31, 2022	6,471,524	5,086,792
Shares, Exercisable at December 31, 2022	2,537,544
Weighted-Average Exercise Price, Outstanding at December 31, 2021	$ 6.17
Weighted-Average Exercise Price, Granted	6.99
Weighted-Average Exercise Price, Vested and exercised	1.84
Weighted-Average Exercise Price, Forfeited	7.53
Weighted-Average Exercise Price, Expired	14.81
Weighted-Average Exercise Price, Outstanding at December 31, 2021	6.69	$ 6.17
Weighted-Average Exercise Price, Exercisable at December 31, 2022	$ 6.18
Weighted-Average Remaining Contractual Term, Outstanding	8 years 3 months 10 days	8 years
Weighted-Average Remaining Contractual Term, Exercisable at December 31, 2022	7 years 8 months 4 days
Aggregate Intrinsic Value, Outstanding	$ 14,949	$ 38,000
Aggregate Intrinsic Value, Exercisable at December 31, 2022	$ 8,089

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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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Gross number of share options (or share units) granted during the period.

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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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Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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Number of options outstanding, including both vested and non-vested options.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(ii)
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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-Publisher FASB
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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options of the plan that expired.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
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Share based compensation arrangement by share based payment award options vested and exercised in period.

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Share based compensation arrangements by share based payment award options vested and exercised in period weighted average exercise price.

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