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Net Loss Per Share (Details) - Schedule of shares outstanding were excluded from the calculation of diluted net loss per ordinary share - shares | 3 Months Ended | 9 Months Ended | 12 Months Ended
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Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Net Loss Per Share (Details) - Schedule of shares outstanding were excluded from the calculation of diluted net loss per ordinary share [Line Items] |  |  |  |  |  |  |
Shares issuable upon exercise of share options |  |  |  |  | 18,281,198 | 8,108,700 | 8,974,799
Shares issuable upon vesting of non-vested shares | 98,094 |  | 33,093 | 365,484 | 72,122 | 4,712,098 | 6,292,521
Shares issuable upon conversion of Series |  |  |  |  |  | 2,613,042 | 31,357,306
Shares issuable upon conversion of noncontrolling interests of a subsidiary |  |  |  |  | 17,253,182 | 17,253,182 | 10,849,317
Shares issuable upon conversion of Series B1 Preferred [Member] |  |  |  |  |  |  |
Net Loss Per Share (Details) - Schedule of shares outstanding were excluded from the calculation of diluted net loss per ordinary share [Line Items] |  |  |  |  |  |  |
Shares issuable upon conversion of Series |  |  |  |  |  | 1,304,117 | 15,649,083
Shares issuable upon conversion of Series B2 Preferred [Member] |  |  |  |  |  |  |
Net Loss Per Share (Details) - Schedule of shares outstanding were excluded from the calculation of diluted net loss per ordinary share [Line Items] |  |  |  |  |  |  |
Shares issuable upon conversion of Series | 7,153,219 | 8,545,490 | 8,076,300 | 8,545,490 | 8,545,490 | 8,545,490 | 8,545,490
Shares issuable upon conversion of Series C1 Preferred [Member] |  |  |  |  |  |  |
Net Loss Per Share (Details) - Schedule of shares outstanding were excluded from the calculation of diluted net loss per ordinary share [Line Items] |  |  |  |  |  |  |
Shares issuable upon conversion of Series | 6,398,475 | 26,757,258 | 19,896,422 | 26,757,258 | 26,757,258 | 24,527,400 |
Shares issuable upon conversion of Series C2 Preferred [Member] |  |  |  |  |  |  |
Net Loss Per Share (Details) - Schedule of shares outstanding were excluded from the calculation of diluted net loss per ordinary share [Line Items] |  |  |  |  |  |  |
Shares issuable upon conversion of Series | 4,842,260 | 20,249,450 | 15,057,284 | 20,249,450 | 20,249,450 | 18,561,830 |
Shares issuable upon conversion of Series EEL/D1 Preferred [Member] |  |  |  |  |  |  |
Net Loss Per Share (Details) - Schedule of shares outstanding were excluded from the calculation of diluted net loss per ordinary share [Line Items] |  |  |  |  |  |  |
Shares issuable upon conversion of Series | 5,335,362 | 22,311,516 | 16,590,614 | 22,311,516 | 22,311,516 | 22,311,516 | 22,311,516
Shares issuable upon conversion of Series D2 Preferred [Member] |  |  |  |  |  |  |
Net Loss Per Share (Details) - Schedule of shares outstanding were excluded from the calculation of diluted net loss per ordinary share [Line Items] |  |  |  |  |  |  |
Shares issuable upon conversion of Series | 1,606,919 | 6,719,845 | 4,996,808 | 6,719,845 | 6,719,845 | 6,719,845 | 2,738,213

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