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Stock Options, Restricted Stock and Stock-based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
Jul. 14, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Common stock reserved for future issuance 15,012,957   14,170,038  
Number of shares available for grants 1,854,464      
Stock options exercised 324,675      
Intrinsic value of stock options vested $ 819 $ 411    
Unrecognized compensation cost related to unvested stock options $ 7,332 $ 6,060    
Stock-based awards are expected to be recognized over a weighted average period 2 years 5 months 12 days 2 years 8 months 23 days    
2015 Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share-based compensation arrangement by share-based payment award, award vesting period 4 years      
Share-based compensation arrangement by share-based payment award, expiration period 10 years      
Number of shares available for grants 0      
Stock options exercised 306,518      
Exercise price per share $ 1.46      
Common stock held by option holder in consideration of aggregate exercise price 122,608      
2021 Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Common stock reserved for future issuance       2,054,000