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Stock-Based Compensation - Summary of Stock Option Activity (Details) - Stock Options - USD ($)
$ / shares in Units, $ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2022
Dec. 31, 2021
Options, Outstanding    
Number of shares, Outstanding, Beginning balance 6,870,617  
Number of shares, Granted 2,049,500  
Number of shares, Exercised (284,645)  
Number of shares, Canceled and forfeited (302,395)  
Number of shares, Outstanding, Ending balance 8,333,077 6,870,617
Number of shares, Vested and exercisable 4,310,667  
Weighted-average exercise price, Outstanding    
Weighted-average exercise price, Outstanding, Beginning balance $ 12.56  
Weighted-average exercise price, Granted 18.01  
Weighted-average exercise price, Exercised 14.98  
Weighted-average exercise price, Canceled and forfeited 18.52  
Weighted-average exercise price, Outstanding, Ending balance 13.60 $ 12.56
Weighted-average exercise price, Vested and exercisable $ 10.23  
Share-based Payment Award, Options, Additional Disclosures    
Weighted-average remaining contractual life, Outstanding 7 years 8 months 12 days 8 years
Weighted-average remaining contractual life, Vested and exercisable 6 years 10 months 24 days  
Aggregate intrinsic value, Outstanding $ 63,367 $ 32,637
Aggregate intrinsic value, Vested and exercisable $ 46,704