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Stock Based Compensation - Schedule of Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Stock Options    
Outstanding, Beginning Balance | shares 6,757,591  
Options granted | shares 834,150  
Options exercised | shares (538,616)  
Options cancelled or forfeited | shares (442,167)  
Outstanding, Ending Balance | shares 6,610,958 6,757,591
Exercisable at June 30, 2022 | shares 1,907,881  
Vested and expected to vest at June 30, 2022 | shares 6,610,958  
Weighted-Average Exercise Price    
Outstanding, Beginning Balance | $ / shares $ 8.57  
Options granted | $ / shares 8.56  
Options exercised | $ / shares 1.84  
Options cancelled or forfeited | $ / shares 7.07  
Outstanding, Ending Balance | $ / shares 9.21 $ 8.57
Exercisable at June 30, 2022 | $ / shares 4.93  
Vested and expected to vest at June 30, 2022 | $ / shares $ 9.21  
Weighted-Average Remaining Contractual Term (years)    
Outstanding 8 years 6 months 8 years 8 months 12 days
Exercisable at June 30, 2022 7 years 3 months 18 days  
Vested and expected to vest at June 30, 2022 8 years 6 months  
Aggregate Intrinsic Value    
Outstanding | $ $ 5,650 $ 50,085
Exercisable at June 30, 2022 | $ 3,337  
Vested and expected to vest at June 30, 2022 | $ $ 5,650