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Stock-based Compensation - Summary of Stock Option Activity (Details) - Stock Options - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Shares Outstanding at December 31, 2021 13,818,212  
Shares Granted 4,272,046  
Shares Exercised (357,244)  
Shares Canceled (420,311)  
Shares Outstanding at March 31, 2022 17,312,703 13,818,212
Shares Options exercisable at March 31, 2022 4,201,565  
Weighted-average exercise price, Outstanding at December 31, 2021 $ 3.87  
Weighted-average exercise price, Granted 11.59  
Weighted-average exercise price, Exercised 1.29  
Weighted-average exercise price, Canceled 5.11  
Weighted-average exercise price, Outstanding at March 31, 2022 5.79 $ 3.87
Weighted-average exercise price, Options exercisable at March 31, 2022 $ 2.24  
Weighted-average remaining contractual term (years), Outstanding 8 years 10 months 17 days 8 years 9 months 25 days
Weighted-average remaining contractual term (years), Options exercisable at March 31, 2022 8 years 2 months 4 days  
Aggregate intrinsic value, Outstanding at December 31, 2021 $ 163,264  
Aggregate intrinsic value, Outstanding at March 31, 2022 67,194 $ 163,264
Aggregate intrinsic value, Options exercisable at March 31, 2022 $ 26,979