Stock-Based Compensation - Summary of Stock Option Activity (Details)	6 Months Ended	12 Months Ended
	Jun. 30, 2022 $ / shares shares	Dec. 31, 2021 $ / shares shares
Share-based Payment Arrangement [Abstract]
Shares Outstanding, Beginning Balance | shares	7,953,018
Shares, Granted | shares	311,840
Shares, Exercised | shares	(78,375)
Shares, Forfeited or Expired | shares	(260,731)
Shares Outstanding, Ending Balance | shares	7,925,752	7,953,018
Shares, Exercisable | shares	3,665,284
Shares, Vested and Expected To Vest | shares	7,925,752
Weighted-Average Exercise Price, Beginning Balance | $ / shares	$ 9.02
Weighted-Average Exercise Price, Granted | $ / shares	16.05
Weighted-Average Exercise Price, Exercised | $ / shares	4.35
Weighted-Average Exercise Price, Forfeited or Expired | $ / shares	10.86
Weighted-Average Exercise Price, Ending Balance | $ / shares	9.29	$ 9.02
Weighted-Average Exercise Price, Exercisable | $ / shares	4.44
Weighted-Average Exercise Price, Vested and Expected To Vest | $ / shares	$ 9.29
Weighted-Average Remaining Contractual Term (Years)	7 years 8 months 19 days	8 years 1 month 28 days
Weighted-Average Remaining Contractual Term (Years), Exercisable	6 years 1 month 20 days
Weighted-Average Remaining Contractual Term (Years), Vested and expected to vest	7 years 8 months 19 days