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Stockholders' Equity - Summary of Stock Option Activity Under Equity Incentive Plan (Details)
 12 Months Ended
Dec. 31, 2021
$ / shares
shares
Number of Shares  
Beginning balance (in shares) | shares 8,906,624
Granted (in shares) | shares 3,483,118
Exercised (in shares) | shares (1,310,263)
Cancelled (in shares) | shares (590,486)
Ending balance (in shares) | shares 10,488,993
Weighted-Average Exercise Price  
Beginning balance (in USD per share) | $ / shares $ 6.78
Granted (in USD per share) | $ / shares 10.29
Exercised (in USD per share) | $ / shares 5.09
Cancelled (in USD per share) | $ / shares 10.81
Ending balance (in USD per share) | $ / shares $ 7.93