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Summary of Significant Accounting Policies - Narrative (Details)
$ / shares in Units, $ in Millions
 1 Months Ended 9 Months Ended
Sep. 30, 2021
USD ($)
$ / shares
shares
Sep. 30, 2021
$ / shares
shares
Subsidiary, Sale of Stock [Line Items]    
Share price (in dollars per share) | $ / shares $ 25.00 $ 25.00
Payments for underwriting discount and commissions | $ $ 13.2  
Payments of stock issuance costs | $ $ 2.9  
Convertible preferred stock, shares, number of shares issued upon conversion (in shares) | shares 29,912,264 29,912,264
Additional Paid-in Capital    
Subsidiary, Sale of Stock [Line Items]    
Conversion of redeemable convertible preferred stock to common stock upon initial public offering | $ $ 329.5  
Common Stock Warrants | Series E, Redeemable Convertible Preferred Stock Warrants    
Subsidiary, Sale of Stock [Line Items]    
Issuance upon exercise of warrants (in shares) | shares   62,454
Common Stock | IPO    
Subsidiary, Sale of Stock [Line Items]    
Sale of stock, number of shares issued in transaction (in shares) | shares 6,556,000  
Sale of stock, consideration received on transaction | $ $ 172.4  
Common Stock | Over-Allotment Option    
Subsidiary, Sale of Stock [Line Items]    
Sale of stock, number of shares issued in transaction (in shares) | shares 983,400