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Stock Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
Stock-based compensation      
Unvested shares related to early exercises of stock options (in shares) 2,471,102    
Unvested early exercises of stock options $ 0.2   $ 0.3
Unvested shares from early exercises 81,794   111,756
Stock options to purchase common stock      
Stock-based compensation      
Weighted-average grant-date fair value of stock options granted (in dollars per share) $ 7.00 $ 5.35  
Unrecognized compensation cost $ 24.7    
Unrecognized compensation cost, weighted-average period for recognition 3 years 1 month 28 days    
Restricted Stock      
Stock-based compensation      
Unrecognized compensation cost $ 3.1    
Unrecognized compensation cost, weighted-average period for recognition 3 years 5 months 1 day    
Future awards under the 2021 Employee Stock Purchase Plan      
Stock-based compensation      
Stock authorized for issuance (in shares) 591,005   278,762
2016 Stock Plan      
Stock-based compensation      
Stock authorized for issuance (in shares) 2,271,477   2,318,855
2021 Plan      
Stock-based compensation      
Stock authorized for issuance (in shares) 5,252,471   3,986,270