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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
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