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Income Taxes - Reconciliation of Income Tax Provision (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Tax Disclosure [Abstract]      
Tax at federal statutory rate $ (20,925) $ (25,613) $ (13,539)
State taxes, net of federal effect (4,898) (2,463) (2,040)
R&D Credit (2,513) (2,442) (1,289)
Valuation allowance 40,377 30,213 15,724
Warrant revaluation (12,156) (3,728) 162
Transaction costs (1,237) 2,936 0
Stock based compensation 1,763 628 176
Other, net (352) 700 854
Income tax expense $ 59 $ 231 $ 48