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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Sep. 27, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of common shares reserved for future issuance 8,259,317 4,718,239    
Weighted-average fair value of options granted $ 7.57 $ 0.62    
Intrinsic value of options exercised $ 600      
Gross unrecognized stock-based compensation expense $ 38,100      
Unrecognized stock-based compensation expense weighted average amortized period 2 years 10 months 24 days      
Number of restricted common stock shares issued     994,650  
Stock-based compensation expense $ 6,372 $ 18    
Fair value of restricted stock vested $ 5 $ 4    
Restricted Stock Awards        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of common shares reserved for future issuance 618,494 888,612    
Number of shares authorized to be repurchased under a stock repurchase plan 48,508      
Unrecognized stock-based compensation expense weighted average amortized period 1 year 6 months      
Common stock public offering price per share     $ 0.01  
Stock-based compensation expense $ 100 $ 26    
Gross unrecognized stock-based compensation expense $ 700      
2021 Equity Incentive Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of common shares reserved for future issuance 1,289,259     3,852,807
Number of shares authorized to be repurchased under a stock repurchase plan 2,515,040      
Number of shares of common stock outstanding percentage 5.00%      
Maximum number of common shares issuable under exercise of options 7,705,614      
2019 Equity Incentive Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of shares authorized to be repurchased under a stock repurchase plan 3,411,929      
2019 Equity Incentive Plan | Maximum [Member]        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of common shares reserved for future issuance 4,042,408      
2021 Employee Stock Purchase Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of restricted common stock shares issued 48,508      
Number of common shares authorized for issuance 424,595      
Number of shares issued 0