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Stock Incentive Plans - Summary of Stock Option Activity Under Stock Incentive Plan (Details) - Stock Options - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Mar. 31, 2021
Sep. 30, 2021
Dec. 31, 2020
Number of Options      
Balance at the beginning of the period (in shares) 23,421,374 23,421,374  
Granted (in shares)   29,113,555  
Exercised (in shares)   (3,236,786)  
Canceled and forfeited (in shares)   (3,241,591)  
Balance at the end of the period (in shares)   46,056,552  
Weighted-Average Exercise Price per Share      
Balance at the beginning of the period (in dollars per share) $ 1.35 $ 1.35  
Granted (in dollars per share)   20.07  
Exercised (in dollars per share)   1.06  
Canceled and forfeited (in dollars per share)   2.89  
Balance at the end of the period (in dollars per share)   $ 13.09  
Option Activity, Additional Disclosures      
Options outstanding, Weighted Average Remaining Contractual Life (Years) 8 years 3 months 29 days 8 years 7 months 28 days  
Options outstanding, Aggregate Intrinsic Value (in USD)   $ 417,075 $ 248,002
Options Vested as of September 30, 2021, Number of Options (in shares)   9,922,355  
Options Vested as of September 30, 2021, Exercise Price per Share (in dollars per share)   $ 1.43  
Options Vested, Weighted Average Remaining Contractual Life (Years)   6 years 8 months 23 days  
Options Vested, as of September 30, 2021, Aggregate Intrinsic Value (in USD)   $ 219,482