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Stock-based Compensation Expense - Summary of Stock Option Activity (Details) - 2019 Plan and 2016 Plan - Stock Option - USD ($)
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 5,188,354  
Number of Shares, Granted 2,253,030  
Number of Shares, Exercised (349,871)  
Number of Shares, Cancelled (953,773)  
Number of Shares, Outstanding, Ending balance 6,137,740 5,188,354
Number of Shares, Exercisable 1,786,579  
Weighted Average Exercise Price, Outstanding, Beginning balance $ 13.91  
Weighted Average Exercise Price, Granted 12.77  
Weighted Average Exercise Price, Exercised 8.59  
Weighted Average Exercise Price, Cancelled 16.35  
Weighted Average Exercise Price, Outstanding, Ending balance 13.42 $ 13.91
Weighted Average Exercise Price, Exercisable $ 11.92  
Weighted Average Remaining Contractual Term (in years), Outstanding 8 years 1 month 2 days 8 years 6 months 25 days
Weighted Average Remaining Contractual Term (in years), Exercisable 6 years 8 months 19 days  
Aggregate Intrinsic Value, Outstanding $ 3,971 $ 27,082,052
Aggregate Intrinsic Value, Exercisable $ 3,967