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Stock-Based Compensation - Schedule of Stock-Based Compensation Expense Recorded in Statements of Operations (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2022 | Mar. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 6,829 | $ 3,886
Research and Development |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | 3,200 | 1,840
General and Administrative |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 3,629 | $ 2,046

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