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Leases - Schedule of Maturities of Lease Liabilities (Details) - USD ($)
$ in Thousands
Jun. 30, 2022
Dec. 31, 2021
Jun. 30, 2021
Leases [Abstract]      
Remainder of 2022 $ 3,541 $ (105) [1]  
2023 6,639 6,639  
2024 6,805 6,805  
2025 6,976 6,976  
Total future undiscounted lease payments 23,961 20,315  
Less: Imputed interest (2,757) (3,532)  
Total lease liabilities $ 21,204 $ 16,783 $ 935
[1] Maturities for 2022 are net of lease incentives of $0.9 million allocated to the Palo Alto office.