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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 Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Options, Exercised   0
2016, 2020, 2021 Equity Incentive Plans [Member]    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Options, Outstanding, Beginning balance 2,246,544  
Number of Options, Granted 644,817  
Number of Options, Exercised (100)  
Number of Options, Cancelled or forfeited (127,149)  
Number of Options, Outstanding, Ending balance 2,764,112 2,246,544
Number of Options, Exercisable, Ending balance 731,354  
Number of Options, Vested and expected to vest 2,479,430  
Weighted Average Exercise Price per Share, Options outstanding, Beginning balance $ 0.95  
Weighted Average Exercise Price per Share, Granted 17.10  
Weighted Average Exercise Price per Share, Exercised 0.84  
Weighted Average Exercise Price per Share, Cancelled or forfeited 2.91  
Weighted Average Exercise Price per Share, Options outstanding, Ending balance 4.63 $ 0.95
Weighted Average Exercise Price per Share, Exercisable, Ending balance 0.90  
Weighted Average Exercise Price per Share, Vested and expected to vest $ 5.11  
Weighted Average Remaining Contractual Term (in years), Options outstanding 8 years 8 months 8 days 9 years 4 months 28 days
Weighted Average Remaining Contractual Term (in years), Exercisable 8 years 6 months 3 days  
Weighted Average Remaining Contractual Term (in years), Vested and expected to vest 8 years 10 months 17 days  
Aggregate Intrinsic Value, Options outstanding $ 45,280 $ 10,081
Aggregate Intrinsic Value, Exercisable 14,322  
Aggregate Intrinsic Value, Vested and expected to vest $ 39,579