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Statements of Redeemable Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($) $ in Thousands | Total | Common Stock | Common Stock IPO | Common Stock Market offering | Additional Paid-in Capital | Additional Paid-in Capital IPO | Additional Paid-in Capital Market offering | Accumulated Deficit | Accumulated Other Comprehensive Loss | Series A Redeemable Convertible Preferred Stock | Series B Redeemable Convertible Preferred Stock | Series C Redeemable Convertible Preferred Stock | Series D Redeemable Convertible Preferred Stock
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Beginning balance at Dec. 31, 2018 | $ (57,728) | $ 6 |  |  | $ 1,339 |  |  | $ (59,073) |  |  |  |  |
Beginning balance, shares at Dec. 31, 2018 |  |  |  |  |  |  |  |  |  | 6,225,719 | 6,786,896 | 3,688,740 |
Beginning balance at Dec. 31, 2018 |  |  |  |  |  |  |  |  |  | $ 24,967 | $ 55,151 | $ 37,692 |
Beginning balance, shares at Dec. 31, 2018 |  | 3,757,403 |  |  |  |  |  |  |  |  |  |  |
Issuance of preferred stock |  |  |  |  |  |  |  |  |  |  |  | $ 42,500 |
Issuance of preferred stock, net of issuance cost (in shares) |  |  |  |  |  |  |  |  |  |  |  | 3,688,740 |
Exercise of stock options | 322 | $ 1 |  |  | 321 |  |  |  |  |  |  |  |
Exercise of stock options (in shares) |  | 243,230 |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock related to early exercised stock options |  | 59,276 |  |  |  |  |  |  |  |  |  |  |
Vesting of early exercised stock options | 122 |  |  |  | 122 |  |  |  |  |  |  |  |
Stock-based compensation expense | 1,185 |  |  |  | 1,185 |  |  |  |  |  |  |  |
Net Loss | (50,274) |  |  |  |  |  |  | (50,274) |  |  |  |  |
Ending balance at Dec. 31, 2019 | (106,373) | $ 7 |  |  | 2,967 |  |  | (109,347) |  |  |  |  |
Ending balance, shares at Dec. 31, 2019 |  |  |  |  |  |  |  |  |  | 6,225,719 | 6,786,896 | 7,377,480 |
Ending balance at Dec. 31, 2019 |  |  |  |  |  |  |  |  |  | $ 24,967 | $ 55,151 | $ 80,192 |
Ending balance, shares at Dec. 31, 2019 |  | 4,059,909 |  |  |  |  |  |  |  |  |  |  |
Conversion of preferred stock | 270,190 | $ 29 |  |  | 270,161 |  |  |  |  | $ (24,967) | $ (55,151) | $ (80,192) | $ (109,879)
Conversion of preferred stock (in shares) |  |  |  |  |  |  |  |  |  | (6,225,719) | (6,786,896) | (7,377,480) | (8,220,242)
Conversion of preferred stock (in shares) |  | 28,610,337 |  |  |  |  |  |  |  |  |  |  |
Conversion of common stock warrant |  | 30,278 |  |  |  |  |  |  |  |  |  |  |
Conversion of preferred stock warrant |  | 16,591 |  |  |  |  |  |  |  |  |  |  |
Warrant liability write-off | 629 |  |  |  | 629 |  |  |  |  |  |  |  |
Issuance of common stock upon initial public offering or at-the-market offering, net of issuance costs | 264,007 |  | $ 18 |  |  | $ 263,989 |  |  |  |  |  |  |
Issuance of common stock upon initial public offering or at-the-market offering, net of issuance costs (in shares) |  |  | 17,968,750 |  |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | 374 |  |  |  | 374 |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan (in shares) |  | 27,465 |  |  |  |  |  |  |  |  |  |  |
Issuance of preferred stock |  |  |  |  |  |  |  |  |  |  |  |  | $ 109,879
Issuance of preferred stock, net of issuance cost (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 8,220,242
Exercise of stock options | 635 |  |  |  | 635 |  |  |  |  |  |  |  |
Exercise of stock options (in shares) |  | 343,444 |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock related to early exercised stock options |  | 14,819 |  |  |  |  |  |  |  |  |  |  |
Vesting of early exercised stock options | 164 |  |  |  | 164 |  |  |  |  |  |  |  |
Stock-based compensation expense | 5,434 |  |  |  | 5,434 |  |  |  |  |  |  |  |
Net Loss | (89,217) |  |  |  |  |  |  | (89,217) |  |  |  |  |
Ending balance at Dec. 31, 2020 | 345,843 | $ 54 |  |  | 544,353 |  |  | (198,564) |  |  |  |  |
Ending balance, shares at Dec. 31, 2020 |  | 51,071,593 |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon initial public offering or at-the-market offering, net of issuance costs | 13,847 |  |  | $ 1 |  |  | $ 13,846 |  |  |  |  |  |
Issuance of common stock upon initial public offering or at-the-market offering, net of issuance costs (in shares) |  |  |  | 567,045 |  |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan | 888 |  |  |  | 888 |  |  |  |  |  |  |  |
Issuance of common stock under Employee Stock Purchase Plan (in shares) |  | 62,546 |  |  |  |  |  |  |  |  |  |  |
Exercise of stock options | 3,012 |  |  |  | 3,012 |  |  |  |  |  |  |  |
Exercise of stock options (in shares) |  | 931,114 |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock to LonzaLtd. | 10,001 | $ 1 |  |  | 10,000 |  |  |  |  |  |  |  |
Issuance of common stock to Lonza Ltd. (in shares) |  | 399,680 |  |  |  |  |  |  |  |  |  |  |
Unrealized losses on investment | (241) |  |  |  |  |  |  |  | $ (241) |  |  |  |
Vesting of early exercised stock options | 16 |  |  |  | 16 |  |  |  |  |  |  |  |
Stock-based compensation expense | 10,729 |  |  |  | 10,729 |  |  |  |  |  |  |  |
Net Loss | (100,077) |  |  |  |  |  |  | (100,077) |  |  |  |  |
Ending balance at Dec. 31, 2021 | $ 284,018 | $ 56 |  |  | $ 582,844 |  |  | $ (298,641) | $ (241) |  |  |  |
Ending balance, shares at Dec. 31, 2021 |  | 53,031,978 |  |  |  |  |  |  |  |  |  |  |

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