Stock-Based Compensation - Schedule of Stock Options (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Number of Shares
Stock options outstanding, beginning balance (shares)	10,025,124	5,815,724
Granted (shares)	7,090,000	5,195,000
Exercised (shares)	(504,488)	(260,600)
Forfeited (shares)	(2,135,000)	(725,000)
Stock options outstanding, ending balance (shares)	14,475,636	10,025,124
Stock options exercisable (shares)	4,469,386
Weighted-Average Exercise Price
Stock options outstanding, beginning balance (in dollars per share)	$ 2.19	$ 0.56
Granted (in dollars per share)	2.00	3.76
Exercised (in dollars per share)	0.55	0.55
Forfeited (in dollars per share)	2.80	1.03
Stock options outstanding, ending balance (in dollars per share)	2.06	$ 2.19
Stock options exercisable (in dollars per share)	$ 1.40
Stock options outstanding, weighted average remaining contractual life (in years)	8 years 9 months 18 days	9 years 1 month 6 days
Stock options exercisable, weighted average remaining contractual life (in years)	7 years 10 months 24 days
Stock options exercises in period, aggregated intrinsic value	$ 915	$ 780
Stock options forfeited in period, aggregated intrinsic value	743
Stock options outstanding, aggregated intrinsic value	1,987	$ 13,372
Stock options exercisable, aggregated intrinsic value	$ 1,560