Stock Option Plans - Schedule of activity of stock option plan (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Stock Number of Options
Beginning balance (in shares)	5,931,024
Options granted (in shares)	4,231
Options exercised (in shares)	(1,103,263)
Options cancelled or expired and returned to plan (in shares)	(2,457,488)
Ending balance (in shares)	2,374,504	5,931,024
Vested and exercisable to vest (in shares)	767,785
Vested and expected (in shares)	1,670,909
Weighted- Average Exercise Price
Beginning balance (in dollars per share)	$ 2.61
Options granted (in dollars per share)	14.45
Options exercised (in dollars per share)	2.21
Options cancelled or expired and returned to plan (in dollars per share)	2.38
Ending balance (in dollars per share)	3.00	$ 2.61
Vested and exercisable to vest (in dollars per share)	2.97
Vested and expected (in dollars per share)	$ 3.00
Weighted- Average Remaining Contractual Term (Years)
Outstanding	8 years 3 months	8 years 1 month 6 days
Vested and exercisable to vest	7 years 10 months 28 days
Vested and expected	8 years 1 month 9 days
Aggregate Intrinsic Value (in thousands)
Outstanding	$ 375	$ 70,192
Vested and exercisable to vest	352
Vested and expected	$ 374