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Stock-Based Compensation - Summary of Stock Option Activity (Details) - 2020 Plan - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2022
Dec. 31, 2021
Weighted Average Exercise Price Per Share    
Outstanding, Weighted Average Remaining Contractual Life 10 years  
Stock Option    
Number of Unvested Options    
Outstanding at December 31, 2021 3,659  
Granted 1,964  
Exercise 0  
Forfeited/cancelled (100)  
Outstanding at March 31, 2022 5,523 3,659
Vested at March 31, 2022 1,847  
Weighted Average Exercise Price Per Share    
Outstanding at December 31, 2021 $ 4.99  
Granted 2.31  
Forfeited/cancelled 4.11  
Outstanding at March 31, 2022 4.07  
Vested at March 31, 2022 $ 4.93  
Outstanding, Weighted Average Remaining Contractual Life 9 years 1 month 20 days 8 years 8 months 1 day
Granted , Weighted Average Remaining Contractual Life 9 years 10 months 17 days  
Vested, Weighted Average Remaining Contractual Life at March 31, 2022 8 years 6 months 10 days  
Aggregate Intrinsic Value    
Aggregate intrinsic value for options outstanding $ 6