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Description of the Business - Additional Information (Details) $ / shares in Units, $ in Thousands |  |  |  |  | 3 Months Ended | 9 Months Ended |
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Jul. 08, 2021 USD ($) $ / shares shares | May 06, 2021 USD ($) | Nov. 17, 2020 USD ($) $ / shares shares | Apr. 28, 2020 USD ($) $ / shares shares | Sep. 30, 2021 USD ($) shares | Jun. 30, 2020 shares | Sep. 30, 2021 USD ($) Segments | Sep. 30, 2020 USD ($) | Dec. 31, 2020 USD ($)
Description Of Business [Line Items] |  |  |  |  |  |  |  |  |
Number of operating segments | Segments |  |  |  |  |  |  | 1 |  |
Accumulated deficit |  |  |  |  | $ 222,337 |  | $ 222,337 |  | $ 166,393
Proceeds from issuance of common stock pursuant to public offering |  |  |  |  |  |  | $ 50,000 | $ 138,000 |
At-The-Market Sales Agreement and Offering |  |  |  |  |  |  |  |  |
Description Of Business [Line Items] |  |  |  |  |  |  |  |  |
Sale of Stock, Number of Shares Issued in Transaction | shares | 2,597,402 |  |  |  |  |  |  |  |
Proceeds from issuance of common stock pursuant to public offering | $ 50,000 |  |  |  |  |  |  |  |
Sale of Stock, Price Per Share | $ / shares | $ 19.25 |  |  |  |  |  |  |  |
At-The-Market Sales Agreement and Offering | Maximum |  |  |  |  |  |  |  |  |
Description Of Business [Line Items] |  |  |  |  |  |  |  |  |
Sales of common stock |  | $ 150,000 |  |  |  |  |  |  |
Common Stock |  |  |  |  |  |  |  |  |
Description Of Business [Line Items] |  |  |  |  |  |  |  |  |
Shares of common stock issued | shares |  |  |  |  | 2,597,402 |  |  |  |
Proceeds from issuance of common stock pursuant to initial public offering |  |  |  | $ 138,000 |  |  |  |  |
Underwriting discounts and commissions and other offering expenses |  |  |  | 12,800 |  |  |  |  |
Net proceeds from IPO |  |  |  | $ 125,200 |  |  |  |  |
Convertible preferred stock outstanding converted into shares of common stock | shares |  |  |  | 19,278,606 |  |  |  |  |
Reverse stock split |  |  |  | one-for-four |  |  |  |  |
Reverse stock split ratio |  |  |  | 0.25 |  |  |  |  |
Common Stock | Initial Public Offering |  |  |  |  |  |  |  |  |
Description Of Business [Line Items] |  |  |  |  |  |  |  |  |
Shares of common stock issued | shares |  |  |  | 8,625,000 |  | 8,625,000 |  |  |
Price per share of common stock | $ / shares |  |  |  | $ 16.00 |  |  |  |  |
Common Stock | Option to Purchase Additional Shares | Maximum |  |  |  |  |  |  |  |  |
Description Of Business [Line Items] |  |  |  |  |  |  |  |  |
Shares of common stock issued | shares |  |  | 756,000 | 1,125,000 |  |  |  |  |
Common Stock | Secondary Public Offering |  |  |  |  |  |  |  |  |
Description Of Business [Line Items] |  |  |  |  |  |  |  |  |
Shares of common stock issued | shares |  |  | 5,796,000 |  |  |  |  |  |
Price per share of common stock | $ / shares |  |  | $ 23.00 |  |  |  |  |  |
Underwriting discounts and commissions and other offering expenses |  |  | $ 8,500 |  |  |  |  |  |
Gross proceeds from secondary public offering excluding underwriting discounts and commissions and other offering expenses |  |  | 133,300 |  |  |  |  |  |
Proceeds from issuance of common stock pursuant to public offering |  |  | $ 124,800 |  |  |  |  |  |
Common Stock | At-The-Market Sales Agreement and Offering |  |  |  |  |  |  |  |  |
Description Of Business [Line Items] |  |  |  |  |  |  |  |  |
Underwriting discounts and commissions and other offering expenses | $ 1,900 |  |  |  |  |  |  |  |
Proceeds from issuance of common stock pursuant to public offering | $ 48,100 |  |  |  |  |  |  |  |

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- Definition The number of shares converted in a noncash (or part noncash) transaction. Noncash is defined as transactions during a period that do not result in cash receipts or cash payments in the period. "Part noncash" refers to that portion of the transaction not resulting in cash receipts or cash payments in the period. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 50 -Paragraph 4 -URI http://asc.fasb.org/extlink&oid=121583591&loc=d3e4313-108586 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 50 -Paragraph 3 -URI http://asc.fasb.org/extlink&oid=121583591&loc=d3e4304-108586 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 50 -Paragraph 5 -URI http://asc.fasb.org/extlink&oid=121583591&loc=d3e4332-108586 + Details
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