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Stock-based Compensation - Summary of Stock Option Activity (Details) - 2020 Stock Option and Incentive Plan
3 Months Ended
Mar. 31, 2022
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Number of stock options, Outstanding as of December 31, 2021 | shares 5,983,425
Number of stock options, Granted | shares 1,576,000
Number of stock options, Exercised | shares (52,707)
Number of stock options, Cancelled or forfeited | shares (185,227)
Number of stock options, Outstanding as of March 31, 2022 | shares 7,321,491
Number of stock options, Options exercisable as of March 31, 2022 | shares 1,668,108
Number of stock options, Vested and expected to vest as of March 31, 2022 | shares 7,321,491
Weighted-average exercise price, Outstanding as of December 31, 2021 | $ / shares $ 22.33
Weighted-average exercise price, Granted | $ / shares 23.57
Weighted-average exercise price, Exercised | $ / shares 4.96
Weighted-average exercise price, Cancelled or forfeited | $ / shares 30.96
Weighted-average exercise price, Outstanding as of March 31, 2022 | $ / shares 22.72
Weighted-average exercise price, Options exercisable as of March 31, 2022 | $ / shares 18.45
Weighted-average exercise price, Vested and expected to vest as of March 31, 2022 | $ / shares $ 22.72