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Stock-based Compensation - Summary of Stock Options Outstanding and Exercisable under the 2020 Plan (Details) - $ / shares
3 Months Ended
Mar. 31, 2022
Dec. 31, 2021
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Shares Outstanding 3,425,444 2,270,896
Shares Exercisable 704,013  
Exercise Price $0.16 to 1.35    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Shares Outstanding 439,813  
Shares Exercisable 312,133  
Exercise Price $0.16 to 1.35 | Minimum    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Exercise Price ($) $ 0.16  
Exercise Price $0.16 to 1.35 | Maximum    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Exercise Price ($) $ 1.35  
Exercise Price $9.91 to 19.94    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Shares Outstanding 2,602,710  
Shares Exercisable 288,677  
Exercise Price $9.91 to 19.94 | Minimum    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Exercise Price ($) $ 9.91  
Exercise Price $9.91 to 19.94 | Maximum    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Exercise Price ($) $ 19.94  
Exercise Price $20.55 to 29.41    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Shares Outstanding 382,921  
Shares Exercisable 103,203  
Exercise Price $20.55 to 29.41 | Minimum    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Exercise Price ($) $ 20.55  
Exercise Price $20.55 to 29.41 | Maximum    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Exercise Price ($) $ 29.41