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Equity Incentive Plans - Summary of Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of Options, Granted 2,478,602   5,367,984  
Options exercised (3,383)   (922,208)  
2020 and 2021 Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of Options, Beginning Balance   5,056,743    
Number of Options, Granted   2,810,502    
Options exercised   (43,945)    
Number of Options, cancelled   (161,584)    
Number of Options, Ending Balance   7,661,716   5,056,743
Number of Options, Exercisable   1,481,036    
Number of Options, Vested and expected to vest   7,661,716    
Weighted Average Exercise Price Per Share, Beginning balance   $ 8.77    
Weighted Average Exercise Price Per Share, granted   8.70    
Weighted Average Exercise Price Per Share, exercised   0.30    
Weighted Average Exercise Price Per Share, cancelled   6.24    
Weighted Average Exercise Price Per Share, Ending balance   8.85   $ 8.77
Weighted Average Exercise Price Per Share, exercisable   7.37    
Weighted Average Exercise Price Per Share, Vested and expected to vest   $ 8.85    
Weighted Average Remaining Contractual Term, Outstanding   8 years 10 months 24 days   9 years 2 months 12 days
Weighted Average Remaining Contractual Term, exercisable   8 years 2 months 12 days    
Weighted Average Remaining Contractual Term, Vested and expected to vest   8 years 10 months 24 days    
Aggregate Intrinsic Value, Outstanding   $ 18,503    
Aggregate Intrinsic Value, Outstanding   608,949   $ 18,503
Aggregate Intrinsic Value, Exercisable   321,482    
Aggregate Intrinsic Value, Vested and expected to vest   $ 608,949