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Stock-Based Compensation - Summary of Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
 6 Months Ended 12 Months Ended
Jun. 30, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Share-Based Payment Arrangement [Abstract]    
Number of Options, Outstanding | shares 5,822,373  
Number of Options, Granted | shares 1,504,465  
Number of Options, Exercised | shares (276,943)  
Number of Options, Cancelled or forfeited | shares (468,869)  
Number of Options, Outstanding | shares 6,581,026 5,822,373
Number of Options, Vested or expected to vest | shares 6,581,026  
Number of Options, Options exercisable | shares 2,532,151  
Weighted- Average Exercise Price, Outstanding | $ / shares $ 7.17  
Weighted- Average Exercise Price, Granted | $ / shares 8.47  
Weighted- Average Exercise Price, Exercised | $ / shares 3.86  
Weighted- Average Exercise Price, Cancelled or forfeited | $ / shares 8.03  
Weighted- Average Exercise Price, Outstanding | $ / shares 7.54 $ 7.17
Weighted- Average Exercise Price, Vested or expected to vest | $ / shares 7.54  
Weighted- Average Exercise Price, Options exercisable | $ / shares $ 5.02  
Weighted- Average Remaining Contractual Term, Outstanding 8 years 25 days 8 years 3 months 7 days
Weighted- Average Remaining Contractual Term, Vested or expected to vest 8 years 25 days  
Weighted- Average Remaining Contractual Term, Option exercisable 6 years 7 months 24 days  
Aggregate Intrinsic Value, Outstanding | $ $ 2,123,446 $ 33,275
Aggregate Intrinsic Value, Vested or expected to vest | $ 2,123,446  
Aggregate Intrinsic Value, Options exercisable as of June 30, 2022 | $ $ 1,981,985