Stock-Based Compensation - Summary of Activity under Stock Option Plans and Related Information (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	6 Months Ended	12 Months Ended
	Jun. 30, 2022	Jun. 30, 2022	Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]
Number of options outstanding, Outstanding, Beginning balance		6,945,184
Number of options outstanding, Options granted		2,448,635
Number of options outstanding, Options exercised		(125,361)
Number of Options outstanding, Options cancelled/forfeited		(62,131)
Number of options outstanding, Outstanding, Ending balance	9,206,327	9,206,327	6,945,184
Number of options outstanding, options vested and exercisable	4,221,972	4,221,972
Weighted average exercise price, Outstanding, Beginning balance		$ 5.95
Weighted average exercise price, Options granted		13.73
Weighted average exercise price, Options exercised		3.27
Weighted average exercise price, Options cancelled/forfeited		6.48
Weighted average exercise price, Outstanding, Ending balance	$ 8.05	8.05	$ 5.95
Weighted average exercise price, options vested and exercisable	$ 6.38	$ 6.38
Weighted average remaining contractual term, (Years) Outstanding balance		8 years	7 years 10 months 24 days
Weighted average remaining contractual term, (Years) options vested and exercisable		6 years 9 months 18 days
Aggregate intrinsic value, Outstanding, Beginning balance		$ 77,363
Aggregate intrinsic value, Options exercised	$ 500	1,191
Aggregate intrinsic value, Outstanding, Ending balance	23,277	23,277	$ 77,363
Aggregate intrinsic value, options vested and exercisable	$ 14,989	$ 14,989