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Stock-based Compensation Expense - Summary of Stock Option Activity (Details) - 2019 Plan and 2016 Plan - Stock Option - USD ($)
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Shares, Outstanding, Beginning balance 2,962,347  
Number of Shares, Granted 2,976,667  
Number of Shares, Exercised (341,952)  
Number of Shares, Cancelled (408,708)  
Number of Shares, Outstanding, Ending balance 5,188,354 2,962,347
Number of Shares, Exercisable 1,476,669  
Weighted Average Exercise Price, Outstanding, Beginning balance $ 11.57  
Weighted Average Exercise Price, Granted 15.56  
Weighted Average Exercise Price, Exercised 9.74  
Weighted Average Exercise Price, Cancelled 12.44  
Weighted Average Exercise Price, Outstanding, Ending balance 13.91 $ 11.57
Weighted Average Exercise Price, Exercisable $ 11.54  
Weighted Average Remaining Contractual Term (in years), Outstanding 8 years 6 months 25 days 8 years 6 months 18 days
Weighted Average Remaining Contractual Term (in years), Exercisable 7 years 8 months 12 days  
Aggregate Intrinsic Value, Outstanding $ 27,082,052 $ 5,767,895
Aggregate Intrinsic Value, Exercisable $ 9,083,995