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Stock Based Compensation - Summary of Stock Option Activity under Incentive Plans (Details) - 2017 and 2021 Incentive Plan - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Shares, Options Outstanding, Beginning Balance 2,247,136 1,861,712
Number of Shares, Granted 1,130,249 907,997
Number of Shares, Exercised (79,076) (11,104)
Number of Shares, Forfeited (175,030) (511,469)
Number of Shares, Expired (3,286)  
Number of Shares, Options Outstanding, Ending Balance 3,119,993 2,247,136
Number of Shares, Options Vested and exercisable, December 31, 2021 1,487,143  
Number of Shares, Vested and expected to vest after December 31, 2021 2,918,841  
Weighted Average Exercise Price Per Share, Options Outstanding, Beginning Balance $ 5.13 $ 3.98
Weighted Average Exercise Price Per Share, Granted 11.98 7.01
Weighted Average Exercise Price Per Share, Exercised 3.39 3.82
Weighted Average Exercise Price Per Share, Forfeited 6.44 4.29
Weighted Average Exercise Price Per Share, Expired 0.73  
Weighted Average Exercise Price Per Share, Options Outstanding, Ending Balance 7.59 $ 5.13
Weighted Average Exercise Price Per Share, Options Vested and exercisable, December 31, 2021 4.65  
Weighted Average Exercise Price Per Share, Vested and expected to vest after December 31, 2021 $ 7.40  
Weighted-Average Remaining Contractual Life (in years), Options outstanding, December 31, 2021 7 years 7 months 6 days  
Weighted-Average Remaining Contractual Life (in years) Options Vested and exercisable, December 31, 2021 5 years 9 months 18 days  
Weighted-Average Remaining Contractual Life (in years) Vested and expected to vest after December 31, 2021 7 years 6 months  
Aggregate Intrinsic Value, Exercised $ 669 $ 35
Aggregate Intrinsic Value, Options outstanding, December 31, 2021 2,325  
Aggregate Intrinsic Value, Options vested and exercisable, December 31, 2021 2,229  
Aggregate Intrinsic Value, Vested and expected to vest after December 31, 2021 $ 2,311