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Stock-Based Compensation - Summary of Stock Option Activity (Details) - 2019 Plan
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Number of Options    
Outstanding, Beginning Balance | shares 1,898,395  
Granted | shares 830,013  
Exercised | shares (188,286)  
Cancelled and forfeited | shares (133,454)  
Outstanding, Ending Balance | shares 2,406,668 1,898,395
Exercisable as of December 31, 2021 | shares 922,104  
Weighted Average Exercise Price    
Weighted Average Exercise Price Outstanding, Beginning Balance | $ / shares $ 12.79  
Issuance of common stock, weighted average price per share | $ / shares 22.22  
Weighted Average Exercise Price, Exercised | $ / shares 2.59  
Weighted Average Exercise Price, Cancelled and forfeited | $ / shares 19.55  
Weighted Average Exercise Price Outstanding, Ending Balance | $ / shares 16.46 $ 12.79
Weighted Average Exercise Price, Exercisable as of December 31, 2021 | $ / shares $ 10.76  
Weighted Average Remaining Contractual Term (In years)    
Weighted Average Remaining Contractual Term (In years), Outstanding 8 years 1 month 6 days 8 years 7 months 6 days
Weighted Average Remaining Contractual Term (In years), Exercisable as of December 31, 2021 7 years 3 months 18 days  
Aggregate Intrinsic Value    
Aggregate Intrinsic Value Outstanding | $ $ 25,918  
Aggregate Intrinsic Value Outstanding | $ 9,970 $ 25,918
Aggregate Intrinsic Value, Exercisable as of December 31, 2021 | $ $ 6,800