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Stock-Based Compensation - Schedule of Share Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Number of Shares    
Beginning Balance (in shares) 5,016,460  
Granted (in shares) 1,719,563  
Exercised (in shares) (508,774)  
Forfeited (in shares) (306,740)  
Ending Balance (in shares) 5,920,509 5,016,460
Vested and expected to vest (in shares) 5,920,509  
Options exercisable (in shares) 2,435,439  
Weighted Average Exercise Price    
Beginning balance (in dollars per share) $ 4.93  
Granted (in dollars per share) 15.41  
Exercised (in dollars per share) 2.79  
Forfeited (in dollars per share) 10.22  
Ending balance (in dollars per share) 7.88 $ 4.93
Vested and expected to vest (in dollars per share) 7.88  
Options, exercisable (in dollars per share) $ 3.62  
Weighted Average Contractual Term    
Outstanding 7 years 10 months 24 days 8 years 6 months
Vested and expected to vest 7 years 10 months 24 days  
Options exercisable 7 years  
Aggregate Intrinsic Value    
Outstanding $ 88,720 $ 76,941
Vested and expected to vest 88,720  
Options exercisable $ 46,882