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Stock-Based Compensation - Schedule Options to Purchase Common Stock (Details) - 2019 Plan - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Number of Shares    
Options outstanding, beginning balance (in shares) 4,224,433  
Granted (in shares) 7,728,260  
Exercised (in shares) (1,208,631)  
Forfeited (in shares) (657,895)  
Options outstanding, ending balance (in shares) 10,086,167 4,224,433
Options exercisable (in shares) 1,281,244  
Weighted Average Exercise Price    
Options outstanding, beginning balance (in USD per share) $ 0.84  
Granted (in USD per share) 3.45  
Exercised (in USD per share) 0.70  
Forfeited (in USD per share) 4.79  
Options outstanding, ending balance (in USD per share) 2.59 $ 0.84
Options exercisable (in USD per share) $ 2.92  
Weighted Average Remaining Contractual Life (Years)    
Options outstanding (in years) 8 years 9 months 18 days 8 years 10 months 24 days
Options exercisable (in years) 8 years 1 month 6 days  
Aggregate Intrinsic Value (In Thousands)    
Options outstanding, beginning balance $ 5,496  
Exercises in period, intrinsic value 11,144  
Forfeited in period, intrinsic value 1,277  
Options outstanding, ending balance 24,664 $ 5,496
Options exercisable $ 2,990