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Basis of Presentation and Summary of Significant Accounting Policies - Additional Information (Details) - USD ($) | Sep. 30, 2021 | Jan. 01, 2021 | Dec. 31, 2020
--- | --- | --- | ---
Basis Of Presentation And Summary Of Significant Accounting Policies [Line Items] |  |  |
Right-of-use assets | $ 12,000,000.0 |  |
Lease liabilities | 12,539,000 |  |
Adjustment to opening balance of accumulated deficit | $ (222,337,000) |  | $ (166,393,000)
ASU No. 2016-02 |  |  |
Basis Of Presentation And Summary Of Significant Accounting Policies [Line Items] |  |  |
Right-of-use assets |  | $ 1,700,000 |
Lease liabilities |  | 2,500,000 |
Change in accounting principle, accounting standards update, early adoption | true |  |
Change in accounting principle, accounting standards update, adopted | true |  |
Change in accounting principle, accounting standards update, adoption date | Jan. 01, 2021 |  |
Change in accounting principle, accounting standards update, immaterial effect | true |  |
ASU No. 2016-02 | Cumulative Effect, Period of Adoption, Adjustment |  |  |
Basis Of Presentation And Summary Of Significant Accounting Policies [Line Items] |  |  |
Adjustment to opening balance of accumulated deficit |  | $ 0 |
ASU No. 2016-13 |  |  |
Basis Of Presentation And Summary Of Significant Accounting Policies [Line Items] |  |  |
Change in accounting principle, accounting standards update, early adoption | true |  |
Change in accounting principle, accounting standards update, immaterial effect | true |  |

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