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Stock-Based Compensation - Summary of Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
 6 Months Ended 12 Months Ended
Jun. 30, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Share-Based Payment Arrangement [Abstract]    
Number of Stock Options Outstanding, Beginning balance | shares 5,301,146  
Number of Stock Options, Granted | shares 2,526,126  
Number of Stock Options, Exercised | shares (152,322)  
Number of Stock Options, Cancelled | shares (57,268)  
Number of Stock Options, Expired | shares (21,452)  
Number of Stock Options Outstanding, Ending balance | shares 7,596,230 5,301,146
Number of Stock Options, Vested and exercisable | shares 2,944,325  
Number of Stock Options, Vested and expected to vest | shares 7,596,230  
Weighted Average Exercise Price, Beginning balance | $ / shares $ 8.25  
Weighted Average Exercise Price, Granted | $ / shares 8.04  
Weighted Average Exercise Price, Exercised | $ / shares 2.79  
Weighted Average Exercise Price, Cancelled | $ / shares 7.50  
Weighted Average Exercise Price, Expired | $ / shares 2.14  
Weighted Average Exercise Price, Ending balance | $ / shares 8.31 $ 8.25
Weighted Average Exercise Price, Vested and exercisable | $ / shares 6.41  
Weighted Average Exercise Price, Vested and expected to vest | $ / shares $ 8.31  
Weighted Average Remaining Contractual Life 8 years 25 days 7 years 8 months 15 days
Weighted Average Remaining Contractual Life, Vested and exercisable 6 years 6 months 7 days  
Weighted Average Remaining Contractual Life, Vested and expected to vest 8 years 25 days  
Aggregate Intrinsic Value | $ $ 6,037 $ 36,853
Aggregate Intrinsic Value, Vested and exercisable | $ 5,424  
Aggregate Intrinsic Value, Vested and expected to vest | $ $ 6,037