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Equity Incentive Plans - Summary of Estimated Grant Date Fair Value of Stock Options Granted (Details) - $ / shares
6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Risk-free interest rate, minimum 1.70% 0.50%
Risk-free interest rate, maximum 3.00% 1.10%
Expected volatility, minimum 68.20% 67.10%
Expected volatility, maximum 71.00% 68.70%
Minimum    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Fair value of common stock $ 7.30 $ 34.41
Expected term (in years) 5 years 3 months 7 days 5 years 3 months 7 days
Maximum    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Fair value of common stock $ 14.95 $ 66.50
Expected term (in years) 6 years 29 days 6 years 29 days