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Consolidated Statements of Convertible Preferred Stock and Stockholders' Equity (Parenthetical) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Statement of Stockholders' Equity [Abstract]      
Issuance of common and preferred stock costs     $ 96
Recapitalized transaction costs   $ 4,142  
Payments of stock issuance costs $ 498