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Stock-Based Compensation - Summary of Activity under Plans (Details) - 2015 and 2019 Plans - USD ($)
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Outstanding Options, Shares available for Grant, Beginning balance 975,135  
Outstanding Options, Shares available for Grant, Additional shares authorized 1,181,488  
Outstanding Options, Shares available for Grant, Options granted (1,560,425)  
Outstanding Options, Shares available for Grant, Options canceled 326,628  
Outstanding Options, Shares available for Grant, Ending balance 922,826 975,135
Outstanding Options, Shares, Beginning balance 2,591,456  
Outstanding Options, Shares, Options granted 1,560,425  
Outstanding Options, Shares, Options exercised (211,900)  
Outstanding Options, Shares, Options canceled (319,315)  
Outstanding Options, Shares, Ending balance 3,620,666 2,591,456
Outstanding Options, Shares, Exercisable 1,498,708  
Outstanding Options, Shares, Vested and expected to vest 3,620,666  
Outstanding Options, Weighted-Average Exercise Price, Beginning balance $ 7.27  
Outstanding Options, Weighted-Average Exercise Price, Options granted 20.52  
Outstanding Options, Weighted-Average Exercise Price, Options exercised 7.13  
Outstanding Options, Weighted-Average Exercise Price, Options canceled 14.33  
Outstanding Options, Weighted-Average Exercise Price, Ending balance 12.36 $ 7.27
Outstanding Options, Weighted-Average Exercise Price, Exercisable 6.58  
Outstanding Options, Weighted-Average Exercise Price, Vested and expected to vest $ 12.36  
Outstanding Options, Weighted Average Remaining Contractual Term (Years) 7 years 11 months 1 day 8 years 4 months 9 days
Outstanding Options, Weighted Average Remaining Contractual Term (Years), Exercisable 6 years 7 months 6 days  
Outstanding Options, Weighted Average Remaining Contractual Term (Years), Vested and expected to vest 7 years 11 months 1 day  
Outstanding Options, Aggregate Intrinsic Value $ 41,400 $ 15,700
Outstanding Options, Aggregate Intrinsic Value, Exercisable 25,700  
Outstanding Options, Aggregate Intrinsic Value, Vested and expected to vest $ 41,400