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Stock-based Compensation - Summary of Stock Options Outstanding and Exercisable under the 2020 Plan (Details) - $ / shares
6 Months Ended
Jun. 30, 2022
Dec. 31, 2021
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Shares Outstanding 3,839,003 2,270,896
Shares Exercisable 881,856  
Exercise Price $0.16 to 1.35    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Shares Outstanding 399,762  
Shares Exercisable 279,963  
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 $8.93 to 19.94    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Shares Outstanding 3,061,320  
Shares Exercisable 499,390  
Exercise Price $8.93 to 19.94 | Minimum    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Exercise Price ($) $ 8.93  
Exercise Price $8.93 to 19.94 | Maximum    
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]    
Exercise Price ($) $ 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 377,921  
Shares Exercisable 102,503  
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