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Stock Based Compensation - Summary of Stock Option Activity (Details) - Stock Options - 2018 and 2021 Equity Incentive Plans - 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]    
Stock Options Outstanding, Beginning balance 1,445,426  
Stock Options Outstanding, Granted 1,981,311  
Stock Options Outstanding, Exercised (167,390)  
Stock Options Outstanding, Cancelled (239,871)  
Stock Options Outstanding, Ending balance 3,019,476 1,445,426
Stock Options vested or expected to vest 3,019,476  
Stock options exercisable 610,182  
Stock Options Outstanding, Weighted Average Exercise Price, Beginning Balance $ 2.62  
Stock Options Granted, Weighted Average Exercise Price 8.70  
Stock Options Exercised, Weighted Average Exercise Price 2.13  
Stock Options Cancelled, Weighted Average Exercise Price 3.73  
Stock Options Outstanding, Weighted Average Exercise Price, Ending balance 6.55 $ 2.62
Stock Options vested or expected to vest, Weighted Average Exercise Price 6.55  
Stock options exercisable, Weighted Average Exercise Price $ 2.63  
Stock Options Outstanding, Weighted Average Remaining Contractual Life 8 years 7 months 9 days 8 years 8 months 26 days
Stock Options vested or expected to vest, Weighted Average Remaining Contractual Life 8 years 7 months 9 days  
Stock options exercisable, Weighted Average Remaining Contractual Life 7 years 29 days  
Stock Options Outstanding, Intrinsic Value, Beginning $ 3,799  
Stock Options Outstanding, Intrinsic Value, Ending 2,120 $ 3,799
Stock Options vested or expected to vest, Intrinsic Value 2,120  
Stock options exercisable, Intrinsic Value $ 2,120