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Stock-based Compensation - Summary of Stock-based Payment Arrangement Expenses (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended | 12 Months Ended
--- | --- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Stock-based compensation expense | $ 34,725 | $ 10,868 | $ 91,828 | $ 19,362 | $ 62,387 | $ 10,222 | $ 5,465
Cost of revenue |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Stock-based compensation expense | 922 | 126 | 1,504 | 204 | 982 | 124 | 517
Sales and marketing |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Stock-based compensation expense | 4,774 | 1,571 | 8,814 | 2,812 | 10,668 | 1,922 | 2,582
Research and development |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Stock-based compensation expense | 20,110 | 6,823 | 40,148 | 10,692 | 36,852 | 5,009 | 1,009
General and administrative |  |  |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |  |  |
Stock-based compensation expense | $ 8,919 | $ 2,348 | $ 41,362 | $ 5,654 | $ 13,885 | $ 3,167 | $ 1,357

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