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Stock-Based Compensation - Summary of Stock Option Activity (Details) - 2020 Plan - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Weighted Average Exercise Price Per Share        
Outstanding, Weighted Average Remaining Contractual Life at December 31, 2021   10 years    
Outstanding, Weighted Average Remaining Contractual Life, Ending Balance   10 years    
Stock Option        
Number of Nonvested Options        
Outstanding, Beginning Balance 2,159 3,659 2,159 0
Granted   1,822 2,175  
Exercise     0  
Forfeited/cancelled   (322) (16)  
Outstanding, Ending Balance 2,159 3,659 2,159 0
Vested, Ending Balance   1,378    
Weighted Average Exercise Price Per Share        
Outstanding, Beginning Balance $ 0   $ 0  
Granted   $ 5.02 5.00  
Exercise     0  
Forfeited/cancelled   5.00 5.00  
Outstanding, Ending Balance $ 5.00 5.01 $ 5.00  
Vested at December 31, 2021   $ 4.99    
Outstanding, Weighted Average Remaining Contractual Life at December 31, 2021 9 years 8 months 8 days 8 years 11 months 23 days    
Granted , Weighted Average Remaining Contractual Life   9 years 3 months 7 days    
Outstanding, Weighted Average Remaining Contractual Life, Ending Balance 9 years 8 months 8 days 8 years 11 months 23 days    
Vested, Weighted Average Remaining Contractual Life at December 31, 2021   8 years 8 months 1 day