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Equity Plans - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Millions
9 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Options Outstanding    
Options Outstanding, Beginning balance 4,648,120  
Options Outstanding, Options granted 1,920,540  
Options Outstanding, Options exercised (308,125)  
Options Outstanding, Options forfeited (176,580)  
Options Outstanding, Ending balance 6,083,955 4,648,120
Options Outstanding, Options exercisable 3,121,045  
Options Outstanding, Options vested and expected to vest 6,083,955  
Weighted-Average Exercise Price Per Share    
Weighted-Average Exercise Price Per Share, Beginning balance $ 11.87  
Weighted-Average Exercise Price Per Share, Options granted 29.93  
Weighted-Average Exercise Price Per Share, Options exercised 9.87  
Weighted-Average Exercise Price Per Share, Options forfeited 16.60  
Weighted-Average Exercise Price Per Share, Ending balance 17.54 $ 11.87
Weighted-Average Exercise Price Per Share, Options exercisable 12.89  
Weighted-Average Exercise Price Per Share, Options vested and expected to vest $ 17.54  
Weighted-Average Remaining Contractual Life (years)    
Weighted-Average Remaining Contractual Life (years) 7 years 6 months 29 days  
Weighted-Average Remaining Contractual Life (years), Options exercisable 6 years 3 months 14 days  
Weighted-Average Remaining Contractual Life (years), Options vested and expected to vest 7 years 6 months 29 days 7 years 7 months 9 days
Aggregate Intrinsic Value    
Aggregate Intrinsic Value, Options Outstanding $ 27.6 $ 40.0
Aggregate Intrinsic Value, Options exercisable 18.7  
Aggregate Intrinsic Value, Options vested and expected to vest $ 27.6  
Options, weighted-average grant-date fair value $ 21.92