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Equity Incentive Plans and Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Equity [Abstract]    
Number of Outstanding Options, Beginning balance 3,771,516  
Number of Outstanding Options, Granted 2,685,077  
Number of Outstanding Options, Exercised (52,357)  
Number of Outstanding Options, Cancelled (513,367)  
Number of Outstanding Options, Ending balance 5,890,869 3,771,516
Number of Outstanding Options, Exercisable 1,623,928  
Number of Outstanding Options, Vested and expected to vest 5,890,869  
Weighted- Average Exercise Price, Beginning balance $ 9.18  
Weighted- Average Exercise Price, Granted 7.71  
Weighted- Average Exercise Price, Exercised 4.90  
Weighted- Average Exercise Price, Forfeited 14.84  
Weighted- Average Exercise Price, Ending balance 7.91 $ 9.18
Weighted- Average Exercise Price, Exercisable 6.80  
Weighted- Average Exercise Price, Vested and expected to vest $ 7.91  
Weighted- Average Remaining Contractual Term 8 years 9 months 18 days 9 years 3 months 18 days
Weighted- Average Remaining Contractual Term, Exercisable 8 years 3 months 18 days  
Weighted- Average Remaining Contractual Term, Vested and expected to vest 8 years 9 months 18 days  
Aggregate Intrinsic Value, Beginning balance $ 28,901  
Aggregate Intrinsic Value, Ending balance 13,492 $ 28,901
Aggregate Intrinsic Value, Exercisable 6,211  
Aggregate Intrinsic Value, Vested and expected to vest $ 13,492