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Stock-Based Compensation - Summary of Stock Option Activity (Details) - 2011 and 2021 Plans - $ / shares
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares Outstanding, Beginning Balance 4,759,530    
Shares, Granted 3,467,069 1,723,750 676,500
Shares, Exercised (236,706)    
Shares, Forfeited or Expired (36,875)    
Shares Outstanding, Ending Balance 7,953,018 4,759,530  
Shares, Exercisable 3,497,825    
Shares, Vested and Expected To Vest 7,953,018    
Weighted-Average Exercise Price, Beginning Balance $ 4.55    
Weighted-Average Exercise Price, Granted 14.63    
Weighted-Average Exercise Price, Exercised 1.88    
Weighted-Average Exercise Price, Forfeited or Expired 5.89    
Weighted-Average Exercise Price, Ending Balance 9.02 $ 4.55  
Weighted-Average Exercise Price, Exercisable 4.22    
Weighted-Average Exercise Price, Vested and Expected To Vest $ 9.02    
Weighted-Average Remaining Contractual Term (Years) 8 years 1 month 28 days 7 years 10 months 2 days  
Weighted-Average Remaining Contractual Term (Years), Exercisable 6 years 5 months 23 days    
Weighted-Average Remaining Contractual Term (Years), Vested and expected to vest 8 years 1 month 28 days