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Stock-Based Compensation - Summary of Stock Options Activity (Details) - 2020 Plan and 2022 Plan
3 Months Ended
Mar. 31, 2023
$ / shares
shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]  
Stock Options Outstanding as of December 31, 2022 | shares 3,341,834
Stock Options, Granted | shares 1,116,850
Exercise of stock options, Shares | shares (68,709)
Stock Options, Canceled/Forfeited | shares (81,689)
Stock Options, Outstanding as of March 31, 2023 | shares 4,308,286
Stock Options, Vested and exercisable as of March 31, 2023 | shares 768,160
Stock Options, Vested and expected to vest as of March 31, 2023 | shares 4,308,286
Weighted Average Exercise Price, Outstanding as of December 31, 2021 | $ / shares $ 9.52
Weighted Average Exercise Price, Granted | $ / shares 15.26
Weighted average exercise price, exercised | $ / shares 1.80
Weighted average exercise price, canceled/forfeited | $ / shares 11.55
Weighted Average Exercise Price, Outstanding as of March 31, 2022 | $ / shares 11.09
Weighted Average Exercise Price, Vested and exercisable as of March 31, 2022 | $ / shares 7.30
Weighted Average Exercise Price, Vested and expected to vest as of March 31, 2022 | $ / shares $ 11.09