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Stock-Based Compensation - Summary of Information about Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
3 Months Ended
Mar. 31, 2022
USD ($)
$ / shares
shares
NUMBER OF SHARES  
Number of shares outstanding, beginning balance | shares 2,662,752
Additional options granted | shares 795,119
Number of shares exercised | shares (4,781)
Number of shares forfeited | shares (10,938)
Number of shares outstanding, ending balance | shares 3,442,152
Vested and exercisable, ending balance | shares 1,582,865
Vested and expected to vest, ending balance | shares 2,777,959
WEIGHTED-AVERAGE EXERCISE PRICE  
Weighted average exercise prices, outstanding beginning balance | $ / shares $ 6.28
Weighted average exercise prices, granted | $ / shares 4.61
Weighted average exercise prices, exercised | $ / shares 4.42
Weighted average exercise prices, forfeited | $ / shares 8.32
Weighted average exercise prices, outstanding ending balance | $ / shares 5.89
Weighted average exercise prices, vested and exercisable ending balance | $ / shares 6.18
Weighted average exercise prices, vested and expected to vest ending balance | $ / shares $ 5.95
WEIGHTED-AVERAGE REMAINING CONTRACTUAL TERM  
Weighted average remaining contractual term, outstanding 7 years 9 months 29 days
Weighted average remaining contractual term, vested and exercisable 6 years 3 months 29 days
Weighted average remaining contractual term, vested and expected to vest 7 years 6 months 7 days
AGGREGATE INTRINSIC VALUE  
Aggregate intrinsic value, outstanding ending balance | $ $ 2,389
Aggregate intrinsic value, vested and exercisable ending balance | $ 1,356
Aggregate intrinsic value, vested and expected to vest ending balance | $ $ 1,997