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Stock-based Compensation - Schedule of Stock-based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock-based compensation $ 4,442 $ 795
Research and Development    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock-based compensation 2,732 491
General and Administrative    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock-based compensation $ 1,710 $ 304