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Stock-based Compensation - Summary of Stock Option Activity (Details) - 2020 Stock Option and Incentive Plan - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of options, Outstanding as of December 31, 2020 5,029,364  
Number of options, Granted 1,926,579  
Number of options, Exercised (474,850)  
Number of options, Forfeited/expired (497,668)  
Number of options, Outstanding as of December 31, 2021 5,983,425 5,029,364
Number of options, Exercisable as of December 31, 2021 1,362,477  
Number of options, Vested and expected to vest as of December 31, 2021 5,983,425  
Weighted-average exercise price, Outstanding as of December 31, 2020 $ 12.72  
Weighted-average exercise price, Granted 41.71  
Weighted-average exercise price, Exercised 4.91  
Weighted-average exercise price, Forfeited/expired 16.91  
Weighted-average exercise price, Outstanding as of December 31, 2021 22.33 $ 12.72
Weighted-average exercise price, Exercisable as of December 31, 2021 16.86  
Weighted-average exercise price, Vested and expected to vest as of December 31, 2021 $ 22.33  
Weighted average remaining contractual term (in years), Options outstanding 8 years 7 months 20 days 9 years 3 months
Weighted average remaining contractual term (in years), Options exercisable 8 years 1 month 6 days  
Weighted average remaining contractual term (in years), Vested and expected to vest 8 years 7 months 20 days  
Aggregate intrinsic value, Outstanding $ 75,538 $ 102,635
Aggregate intrinsic value, Exercisable as of December 31, 2021 22,699  
Aggregate intrinsic value, Vested and expected to vest as of December 31, 2021 $ 75,538