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Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Number of Shares    
Outstanding 4,543,318  
Granted 1,449,400  
Exercised (433,751)  
Forfeited/Cancelled (795,478)  
Outstanding 4,763,489 4,543,318
Exercisable 2,688,532  
Vested and expected to vest 4,763,489  
Weighted Average Exercise Price Per Share    
Outstanding $ 8.52  
Granted 23.26  
Exercised 8.62  
Forfeited/Cancelled 11.10  
Outstanding 12.56 $ 8.52
Exercisable 8.02  
Vested and expected to vest $ 12.56  
Weighted Average Remaining Contractual Term    
Outstanding 6 years 5 months 8 days 7 years 2 months 19 days
Exercisable 5 years 4 months 28 days  
Vested and expected to vest 6 years 5 months 8 days  
Outstanding [1] $ 10,370 $ 108,048
Exercisable [1] 9,372  
Vested and expected to vest [1] $ 10,370  
[1] Aggregate intrinsic value is calculated as the difference between the exercise price of the underlying options and the fair value of common stock for those stock options that had exercise prices lower than the fair value of the Company’s common stock as of December 31, 2021 and 2020