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Equity Incentive Plans - Summary of Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
2020 and 2021 Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Options, Outstanding beginning period 306,739  
Number of Options, exercised (952,731)  
Number of Options, cancelled (604,704)  
Number of Options, Outstanding ending period 5,056,743 306,739
Number of Options, Exercisable 563,228  
Number of Options, Vested and expected to vest 5,056,743  
Weighted Average Exercise Price Per Share, outstanding beginning period $ 0.29  
Weighted Average Exercise Price Per Share, exercised 0.33  
Weighted Average Exercise Price Per Share, cancelled 5.99  
Weighted Average Exercise Price Per Share, outstanding ending period 8.77 $ 0.29
Weighted Average Exercise Price Per Share, exercisable 5.11  
Weighted Average Exercise Price Per Share, Vested and expected to vest $ 8.77  
Weighted Average Remaining Contractual Term, Outstanding 9 years 2 months 12 days 9 years 10 months 24 days
Weighted Average Remaining Contractual Term, exercisable 7 years 10 months 24 days  
Weighted Average Remaining Contractual Term, Vested and expected to vest 9 years 2 months 12 days  
Aggregate Intrinsic Value, Outstanding $ 18,503 $ 1,365
Aggregate Intrinsic Value, Exercisable 4,126  
Aggregate Intrinsic Value, Vested and expected to vest $ 18,503  
2020 Stock Option and Grant Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Options, Granted 4,986,847  
Weighted Average Exercise Price Per Share, granted $ 5.39  
2021 Stock Option and Incentive Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Options, Granted 1,320,592  
Weighted Average Exercise Price Per Share, granted $ 16.15