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Stock-Based Compensation - Summary of Stock Option Activity (Details) - 2021 Equity Incentive Plan
6 Months Ended
Jun. 30, 2022
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Shares, Outstanding Beginning Balance | shares 2,772,154
Shares, Options granted | shares 2,448,802
Shares, Options exercised | shares (20,838)
Shares, Options cancelled | shares (38,408)
Shares, Outstanding Ending Balance | shares 5,161,710
Weighted-Average Exercise Price Per Share, Outstanding Beginning Balance | $ / shares $ 7.90
Weighted-Average Exercise Price Per Share, Options granted | $ / shares 13.25
Weighted-Average Exercise Price Per Share, Options exercised | $ / shares 2.15
Weighted-Average Exercise Price Per Share, Options cancelled | $ / shares 11.82
Weighted-Average Exercise Price Per Share, Outstanding Ending Balance | $ / shares $ 10.43