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Equity Incentive Plans and Stock-Based Compensation Expense - Summary of Stock Option Activity (Details) - 2020 Equity Incentive Plan - 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]    
Beginning Balance, Outstanding Stock Options 2,215,942  
Granted, Outstanding Stock Options 2,143,125  
Exercised, Outstanding Stock Options (992)  
Forfeited, Outstanding Stock Options (403,095)  
Ending Balance, Outstanding Stock Options 3,954,980 2,215,942
Vested and expected to vest, Outstanding Stock Options 3,814,980  
Vested and exercisable, Outstanding Stock Options 1,461,195  
Weighted Average Grant Date Fair Value Per Share, Beginning Balance $ 4.72  
Granted, Weighted-Average Exercise Price 3.23  
Exercised, Weighted-Average Exercise Price 1.39  
Forfeited, Weighted-Average Exercise Price 7.47  
Ending Balance, Weighted-Average Exercise Price 3.63 $ 4.72
Vested and expected to vest, Weighted-Average Exercise Price 3.59  
Vested and exercisable, Weighted-Average Exercise Price $ 3.57  
Weighted-Average Remaining Contractual Life (Years) 8 years 1 month 6 days 6 years 10 months 24 days
Vested and expected to vest, Weighted-Average Remaining Contractual Life (Years) 8 years  
Vested and exercisable, Weighted-Average Remaining Contractual Life (Years) 5 years 4 months 24 days  
Aggregate Intrinsic Value $ 410 $ 3,959
Vested and expected to vest, Aggregate Intrinsic Value 410  
Vested and exercisable, Aggregate Intrinsic Value $ 292