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Stock-based Compensation - Summary of Stock Options Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Share-based Payment Arrangement [Abstract]    
Number of Shares Available for Grant, Beginning Balance 2,606,546  
Number of Shares Available for Grant, Options authorized 1,334,099  
Number of Shares Available for Grant, Options granted (1,566,150)  
Number of Shares Available for Grant, Options expired 4,324  
Number of Shares Available for Grant, Options forfeited 311,278  
Number of Shares Available for Grant, Ending Balance 2,690,097 2,606,546
Number of Shares Underlying Outstanding Options, Beginning Balance 3,194,113  
Number of Shares Underlying Outstanding Options, granted 1,566,150  
Number of Shares Underlying Outstanding Options, exercised (563,387)  
Number of Shares Underlying Outstanding Options, expired (4,324)  
Number of Shares Underlying Outstanding Options, forfeited (311,278)  
Number of Shares Underlying Outstanding Options, Ending Balance 3,881,274 3,194,113
Number of Shares Underlying Outstanding Options, Shares exercisable, December 31, 2021 1,592,139  
Number of Shares Underlying Outstanding Options, Shares vested and expected to vest, December 31, 2021 3,881,274  
Weighted-Average Exercise Price, Beginning Balance $ 11.05  
Options granted 34.83  
Options exercised 6.26  
Options expired 36.33  
Options forfeited 29.17  
Weighted-Average Exercise Price, Ending Balance 19.86 $ 11.05
Weighted-Average Exercise Price, Shares exercisable, December 31,2021 12.75  
Weighted-Average Exercise Price, Shares vested and expected to vest, December 31,2021 $ 19.86  
Weighted-Average Remaining Contractual Term (in years), Outstanding 7 years 11 months 19 days 8 years 5 months 15 days
Weighted-Average Remaining Contractual Term (in years), Shares exercisable, December 31,2021 7 years 25 days  
Weighted-Average Remaining Contractual Term (in years), Shares vested and expected to vest, December 31,2021 7 years 11 months 19 days  
Aggregate Intrinsic Value, Outstanding Balance $ 24,666 $ 97,105
Aggregate Intrinsic Value, Shares exercisable, December 31,2021 17,280  
Aggregate Intrinsic Value, Shares vested and expected to vest, December 31,2021 $ 24,666