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Stock-Based Compensation - Weighted-Average Assumptions Used in Black-Scholes Option Pricing Model to Determine Fair Value of Stock Option Grants (Details) - $ / shares
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Fair value of common stock $ 15.60 $ 5.08
Expected term (years) 6 years 25 days 6 years 3 months 25 days
Expected volatility 72.83% 72.93%
Risk-free interest rate 1.04% 0.62%
Expected dividend yield 0.00% 0.00%
2021 Employee Stock Purchase Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Fair value of common stock $ 19.96  
Expected term (years) 1 year 4 months 28 days  
Expected volatility 69.26%  
Risk-free interest rate 0.18%  
Expected dividend yield 0.00%