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Stock-Based Compensation - Summary of Stock-based Compensation Expense (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Stock-based compensation expense $ 11,553 $ 13,813 $ 10,852
Research and Development Expense      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Stock-based compensation expense 4,809 6,563 4,979
General and Administrative Expense      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Stock-based compensation expense $ 6,744 $ 7,250 $ 5,873