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Stockholders' Equity - Summary of Stock Option Activity (Details) - Stock Options
$ / shares in Units, $ in Thousands
3 Months Ended
Mar. 31, 2022
USD ($)
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Number of Shares Subject to Options outstanding, Beginning Balance | shares 3,947,025
Number of Shares Subject to Options, Granted | shares 1,749,800
Number of Shares Subject to Options, Forfeitures and Cancellations | shares (482,063)
Number of Shares Subject to Options outstanding, Ending Balance | shares 5,214,762
Number of Shares Subject to Options, Exercisable | shares 1,868,381
Weighted- Average Exercise Price Per Share, Beginning Balance | $ / shares $ 4.58
Weighted- Average Exercise Price Per Share, Granted | $ / shares 3.86
Weighted- Average Exercise Price Per Share, Forfeitures and Cancellations | $ / shares 4.85
Weighted- Average Exercise Price Per Share, Ending Balance | $ / shares 4.32
Weighted- Average Exercise Price Per Share, Exercisable | $ / shares $ 4.22
Weighted Average Remaining Contractual Term, Options Outstanding 8 years 3 months 7 days
Weighted Average Remaining Contractual Term, Options Exercisable 7 years 1 month 17 days
Aggregate Intrinsic Value, Options Outstanding | $ $ 742
Aggregate Intrinsic Value, Options Exercisable | $ $ 497