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Stock-Based Compensation - Summary of Activity under Plans (Details) - 2015 and 2019 Plans
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Outstanding Options, Shares available for Grant, Beginning balance 922,826  
Outstanding Options, Shares available for Grant, Additional shares authorized 1,541,322  
Outstanding Options, Shares available for Grant, Options granted (1,552,180)  
Outstanding Options, Shares available for Grant, Options exercised 0  
Outstanding Options, Shares available for Grant, Options canceled 127,709  
Outstanding Options, Shares available for Grant, Ending balance 1,039,677 922,826
Outstanding Options, Shares, Beginning balance 3,620,666  
Outstanding Options, Shares, Options granted 1,552,180  
Outstanding Options, Shares, Options exercised (122,913)  
Outstanding Options, Shares, Options canceled (127,709)  
Outstanding Options, Shares, Ending balance 4,922,224 3,620,666
Outstanding Options, Shares, Exercisable 1,994,118  
Outstanding Options, Shares, Vested and expected to vest 4,922,224  
Outstanding Options, Weighted-Average Exercise Price, Beginning balance | $ / shares $ 12.36  
Outstanding Options, Weighted-Average Exercise Price, Options granted | $ / shares 12.72  
Outstanding Options, Weighted-Average Exercise Price, Options exercised | $ / shares 6.38  
Outstanding Options, Weighted-Average Exercise Price, Options canceled | $ / shares 12.84  
Outstanding Options, Weighted-Average Exercise Price, Ending balance | $ / shares 12.61 $ 12.36
Outstanding Options, Weighted-Average Exercise Price, Exercisable | $ / shares 9.36  
Outstanding Options, Weighted-Average Exercise Price, Vested and expected to vest | $ / shares $ 12.61  
Outstanding Options, Weighted Average Remaining Contractual Term (Years) 8 years 3 months 3 days 7 years 11 months 1 day
Outstanding Options, Weighted Average Remaining Contractual Term (Years), Exercisable 6 years 11 months 26 days  
Outstanding Options, Weighted Average Remaining Contractual Term (Years), Vested and expected to vest 8 years 3 months 3 days  
Outstanding Options, Aggregate Intrinsic Value | $ $ 14,600 $ 41,400
Outstanding Options, Aggregate Intrinsic Value, Exercisable | $ 11,000  
Outstanding Options, Aggregate Intrinsic Value, Vested and expected to vest | $ $ 14,600