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Stock-based Compensation - Summary of Stock Option Activity (Details) - 2019 Plan - Share-based Payment Arrangement, Option - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Shares Outstanding, Beginning Balance 2,024,681  
Number of Shares Outstanding, Stock options granted 1,005,432  
Number of Shares Outstanding, Stock options exercised (44,910)  
Number of Shares Outstanding, Stock options forfeited (77,607)  
Number of Shares Outstanding, Ending Balance 2,907,596 2,024,681
Weighted Average Exercise Price Per Share, Beginning Balance $ 18.33  
Weighted Average Exercise Price Per Share, Stock options granted 19.39  
Weighted Average Exercise Price Per Share, Stock options exercised 8.24  
Weighted Average Exercise Price Per Share, Stock options forfeited 24.96  
Weighted Average Exercise Price Per Share, Ending Balance $ 18.67 $ 18.33
Average Remaining Contractual Term (Years), Balance 8 years 3 months 18 days 8 years
Aggregate Intrinsic Value $ 8,158 $ 38,417