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Stock-based Compensation - Summary of Recognized Stock-based Compensation (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock-based compensation $ 5,266 $ 4,611
Research and Development    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock-based compensation 2,301 1,529
General and Administrative    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock-based compensation $ 2,965 $ 3,082