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Stock-Based Compensation - Summary of Stock Option Activity under 2019 Plan and 2021 plan (Details) - 2021 and 2019 Equity Incentive Plan [Member]
3 Months Ended
Mar. 31, 2022
shares
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]  
Number of share option outstanding, Beginning balance 11,216,275
Number of share option, Granted 9,245,588
Number of share option, Exercised 180,557
Number of share option, Forfeited 727,910
Number of share option outstanding, Ending balance 19,553,396
Number of share option exercisable, Ending balance 2,197,393