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Stock-Based Compensation - Summary of Information about Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
6 Months Ended
Jun. 30, 2022
USD ($)
$ / shares
shares
NUMBER OF SHARES  
Number of shares outstanding, beginning balance | shares 2,662,752
Additional options granted | shares 1,138,469
Number of shares exercised | shares (4,781)
Number of shares forfeited | shares (25,005)
Number of shares outstanding, ending balance | shares 3,771,435
Vested and exercisable, ending balance | shares 1,782,180
Vested and expected to vest, ending balance | shares 3,090,150
WEIGHTED-AVERAGE EXERCISE PRICE  
Weighted average exercise prices, outstanding beginning balance | $ / shares $ 6.28
Weighted average exercise prices, granted | $ / shares 4.63
Weighted average exercise prices, exercised | $ / shares 4.42
Weighted average exercise prices, forfeited | $ / shares 6.58
Weighted average exercise prices, outstanding ending balance | $ / shares 5.79
Weighted average exercise prices, vested and exercisable ending balance | $ / shares 6.17
Weighted average exercise prices, vested and expected to vest ending balance | $ / shares $ 5.85
WEIGHTED-AVERAGE REMAINING CONTRACTUAL TERM  
Weighted average remaining contractual term, outstanding 7 years 9 months 14 days
Weighted average remaining contractual term, vested and exercisable 6 years 4 months 6 days
Weighted average remaining contractual term, vested and expected to vest 7 years 6 months 3 days
AGGREGATE INTRINSIC VALUE  
Aggregate intrinsic value, outstanding ending balance | $ $ 1,097
Aggregate intrinsic value, vested and exercisable ending balance | $ 739
Aggregate intrinsic value, vested and expected to vest ending balance | $ $ 978