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Equity Incentive Plan - Summary of Activity of Stock Options (Details) - Stock Options - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Shares, Beginning balance 614 0
Number of Shares, Granted 731 720
Number of Shares, Exercised (12)  
Number of Shares, Forfeited (170) (106)
Number of Shares, Ending balance 1,163 614
Number of Shares, Exercisable 141  
Number of Shares, Unvested and expected to vest 1,022  
Weighted Average Exercise Price, Beginning balance $ 12.56 $ 0
Weighted Average Exercise Price, Granted 13.95 12.56
Weighted Average Exercise Price, Exercised 12.62  
Weighted Average Exercise Price, Forfeited 14.29 12.56
Weighted Average Exercise Price, Ending balance 13.18 $ 12.56
Weighted Average Exercise Price, Exercisable 12.55  
Weighted Average Exercise Price, Unvested and expected to vest $ 13.26  
Weighted Average Remaining Contractual Term, Balance 8 years 8 months 12 days  
Weighted Average Remaining Contractual Term, Exercisable 8 years 2 months 12 days  
Weighted Average Remaining Contractual Term, Unvested and expected to vest 8 years 9 months 18 days  
Aggregate Intrinsic Value, Exercised $ 36  
Aggregate Intrinsic Value, Ending balance 2,636  
Aggregate Intrinsic Value, Exercisable 407  
Aggregate Intrinsic Value, Unvested and expected to vest $ 2,229