Stock-Based Compensation - Schedule of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands		3 Months Ended	12 Months Ended
		Mar. 31, 2022	Dec. 31, 2021
Shares Available to Grant
Outstanding, Beginning Balance		3,749,339
Addition to option pool		3,013,157
Options granted		(339,030)
Options cancelled or forfeited		420,224
Outstanding, Ending Balance		6,843,690	3,749,339
Stock Options
Outstanding, Beginning Balance		6,757,591
Options granted		339,030
Options exercised		(389,855)
Options cancelled or forfeited		(420,224)
Outstanding, Ending Balance		6,286,542	6,757,591
Exercisable at March 31, 2022		1,555,480
Vested and expected to vest at March 31, 2022		6,286,542
Weighted-Average Exercise Price
Outstanding, Beginning Balance		$ 8.57
Options granted		10.47
Options exercised		1.61
Options cancelled or forfeited		7.04
Outstanding, Ending Balance		9.20	$ 8.57
Exercisable at March 31, 2022		4.11
Vested and expected to vest at March 31, 2022		$ 9.20
Weighted-Average Remaining Contractual Term (years)
Outstanding		8 years 8 months 12 days	8 years 8 months 12 days
Exercisable at March 31, 2022		7 years 1 month 6 days
Vested and expected to vest at March 31, 2022		8 years 8 months 12 days
Aggregate Intrinsic Value
Outstanding	[1]	$ 19,821	$ 50,085
Exercisable at March 31, 2022	[1]	8,617
Vested and expected to vest at March 31, 2022	[1]	$ 19,821

[1] The aggregate intrinsic value is calculated as the difference between the stock option exercise price and the estimated fair value of the underlying common stock at the end of each reporting period referenced above.