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Stock Based Compensation - Summary of Activity of Stock Options (Details) - 2021 Equity Incentive Plan - 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]    
SHARES, Outstanding, Beginning Balance | shares 1,053,874  
SHARES, Granted | shares 2,602,643  
SHARES, Exercised | shares (155,821)  
SHARES, Cancelled or forfeited | shares (211,987)  
SHARES, Expired | shares (23,939)  
SHARES, Outstanding, Ending Balance | shares 3,264,770 1,053,874
SHARES, Options exercisable | shares 846,024  
SHARES, Options vested or expected to vest | shares 3,264,770  
WEIGHTED AVERAGE EXERCISE PRICE, Outstanding, Beginning Balance | $ / shares $ 1.51  
WEIGHTED AVERAGE EXERCISE PRICE, Granted | $ / shares 14.49  
WEIGHTED AVERAGE EXERCISE PRICE, Exercised | $ / shares 1.21  
WEIGHTED AVERAGE EXERCISE PRICE, Cancelled or forfeited | $ / shares 13.24  
WEIGHTED AVERAGE EXERCISE PRICE, Expired | $ / shares 12.18  
WEIGHTED AVERAGE EXERCISE PRICE, Outstanding, Ending Balance | $ / shares 11.04 $ 1.51
WEIGHTED AVERAGE EXERCISE PRICE, Options exercisable | $ / shares 4.03  
WEIGHTED AVERAGE EXERCISE PRICE, Options vested or expected to vest $ 11.04  
WEIGHTED AVERAGE REMAINING CONTRACTUAL TERM (in years), Outstanding 8 years 4 months 24 days 7 years 6 months
WEIGHTED AVERAGE REMAINING CONTRACTUAL TERM (in years), Options exercisable 6 years 8 months 12 days  
WEIGHTED AVERAGE REMAINING CONTRACTUAL TERM (in years), Options vested or expected to vest 8 years 4 months 24 days  
AGGREGATE INTRINSIC VALUE, Outstanding, Beginning Balance | $ $ 7,228 $ 4,964
AGGREGATE INTRINSIC VALUE, Outstanding, Ending Balance | $ 7,228 $ 4,964
AGGREGATE INTRINSIC VALUE, Options exercisable | $ 5,589  
AGGREGATE INTRINSIC VALUE, Options vested or expected to vest | $ $ 7,228