Stockholders' Equity (Deficit) - Schedule of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Equity [Abstract]
Number of Shares Underlying Outstanding Options, Beginning balance	2,466,594	2,482,957
Number of Shares Underlying Outstanding Options, Granted	1,846,375	451,689
Number of Shares Underlying Outstanding Options, Exercised	(1,975,918)	(282,813)
Number of Shares Underlying Outstanding Options, Forfeited or Cancelled	(161,366)	(185,239)
Number of Shares Underlying Outstanding Options, Ending balance	2,175,685	2,466,594	2,482,957
Number of Shares Underlying Outstanding Options, Shares Exercisable	1,502,978
Number of Shares Underlying Outstanding Options, Vested and Expected to Vest	2,175,685
Weighted Average Exercise Price, Outstanding beginning balance	$ 0.61	$ 2.96
Weighted Average Exercise Price, Options granted	11.05	0.61
Weighted Average Exercise Price, Options exercised	0.61	0.73
Weighted Average Exercise Price, Options forfeited or cancelled	3.28	1.28
Weighted Average Exercise Price, Oustanding ending balance	9.27	$ 0.61	$ 2.96
Weighted Average Exercise Price, Shares exercisable	9.32
Weighted Average Exercise Price, vested and expected to vest	$ 9.27
Weighted Average Remaining Contractual Term (in years), Outstanding	8 years 8 months 4 days	5 years 2 months 15 days	5 years 7 months 2 days
Weighted Average Remaining Contractual Term (in years), Shares exercisable	8 years 4 months 24 days
Weighted Average Remaining Contractual Term (in years), Vested and Expected to Vest	8 years 8 months 4 days
Aggregate Intrinsic Value, Outstanding	$ 2,856		$ 2,257
Aggregate Intrinsic Value, Shares exercisable	2,066
Aggregate Intrinsic Value, Vested and expected to vest	$ 2,856