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Stock-Based Compensation - Summary of Option Plans (Details) - Option Plans - Share-based Payment Arrangement, Option - 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 Shares Outstanding, Beginning Balance 1,481,100  
Number of Shares Outstanding, Stock options granted 794,095  
Number of Shares Outstanding, Stock options exercised (120,178)  
Number of Shares Outstanding, Stock options forfeited (130,336)  
Number of Shares Outstanding, Ending Balance 2,024,681 1,481,100
Number of Shares Outstanding, Vested and expected to vest 2,024,681  
Number of Shares Outstanding, Exercisable 1,028,650  
Weighted Average Exercise Price Per Share, Beginning Balance $ 16.13  
Weighted Average Exercise Price Per Share, Stock options granted 21.62  
Weighted Average Exercise Price Per Share, Stock options exercised 9.88  
Weighted Average Exercise Price Per Share, Stock options forfeited 21.30  
Weighted Average Exercise Price Per Share, Ending Balance 18.33 $ 16.13
Weighted Average Exercise Price Per Share, Vested and expected to vest 18.33  
Weighted Average Exercise Price Per Share, Exercisable $ 14.75  
Weighted Average Remaining Contractual Term (Years), Balance 8 years 14 days 8 years 4 months 9 days
Weighted Average Remaining Contractual Term (Years), Vested and expected to vest 8 years 14 days  
Weighted Average Remaining Contractual Term (Years), Exercisable 7 years 4 months 28 days  
Aggregate Intrinsic Value $ 38,417 $ 11,123
Aggregate Intrinsic Value, Vested and expected to vest 38,417  
Aggregate Intrinsic Value, Exercisable $ 23,142