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Shareholders' Equity - Additional Information (Details) |  |  |  | 9 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | --- | ---
Feb. 25, 2021 shares | Jan. 01, 2021 shares | Jan. 01, 2020 | Sep. 30, 2021 Vote $ / shares shares | Dec. 31, 2014 $ / shares shares | Dec. 31, 2020 $ / shares shares
Class Of Stock [Line Items] |  |  |  |  |  |
Preferred stock, shares authorized |  |  |  | 10,000,000 |  | 10,000,000
Preferred stock, par value | $ / shares |  |  |  | $ 0.0001 |  | $ 0.0001
Preferred stock, shares outstanding |  |  |  | 0 |  | 0
Common stock authorized |  |  |  | 340,000,000 |  | 340,000,000
Common stock par value | $ / shares |  |  |  | $ 0.0001 |  | $ 0.0001
Common stock voting rights description |  |  |  | Holders of our common stock are entitled to one vote for each share of common stock held |  |
Number of vote for each share | Vote |  |  |  | 1 |  |
Common stock outstanding |  |  |  | 141,027,487 |  | 137,646,896
Warrant issued to purchase stock |  |  |  | 0 |  |
Series C Convertible Preferred Stock |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Warrant issued to purchase stock |  |  |  |  | 56,875 |
Warrant exercisable term |  |  |  |  | 7 years |
Weighted-average exercise price of warrants | $ / shares |  |  |  |  | $ 2.64 |
Common Stock |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Stock issued during period, common stock | 54,162 |  |  | 54,162 |  |
Maximum | Employee Stock Purchase Plan |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Percentage of annual increases in number of shares |  |  | 1.00% |  |  |
2019 Equity Incentive Plan |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Increase in share reserve |  | 6,882,344 |  |  |  |
2019 Equity Incentive Plan | Maximum |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |
Percentage of annual increases in number of shares |  |  | 5.00% |  |  |

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