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Stockholders' Equity - Summary of Stock Option Activity (Details) - 2018 Equity Incentive Plan - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Outstanding Options, Beginning Balance 2,463,317  
Number of Outstanding Options, Granted 1,939,080  
Number of Outstanding Options, Exercised (326,454)  
Number of Outstanding Options, Forfeitures and Cancellations (128,918)  
Number of Outstanding Options, Ending Balance 3,947,025 2,463,317
Number of Outstanding Options, Exercisable 1,342,186  
Weighted- Average Exercise Price Per Share, Beginning Balance $ 3.71  
Weighted- Average Exercise Price Per Share, Granted 5.42  
Exercise price of options per share 2.73  
Weighted- Average Exercise Price Per Share, Forfeitures and Cancellations 5.17  
Weighted- Average Exercise Price Per Share, Ending Balance 4.58 $ 3.71
Weighted- Average Exercise Price Per Share, Exercisable $ 3.94  
Weighted Average Remaining Contractual Term, Options Outstanding 8 years 4 months 17 days 7 years 11 months 23 days
Weighted Average Remaining Contractual Term, Options Exercisable 7 years 8 months 4 days  
Aggregate Intrinsic Value, Options Outstanding $ 1,501 $ 4,726
Aggregate Intrinsic Value, Options Exercisable $ 941