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Equity Incentive Plans and Stock-Based Compensation - Summary of Option Activity (Details)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]    
Options outstanding, Beginning Balance | shares 3,996,174  
Options, Granted | shares 1,534,842  
Options, Exercised | shares (61,768)  
Options, Forfeited and cancelled | shares (209,302)  
Options outstanding, Ending Balance | shares 5,259,946 3,996,174
Options, Exercisable | shares 2,149,552  
Weighted Average Exercise Price, Options outstanding Beginning Balance | $ / shares $ 9.03  
Weighted Average Exercise Price, Granted | $ / shares 27.42  
Weighted Average Exercise Price, Exercised | $ / shares 2.86  
Weighted Average Exercise Price, Forfeited and Cancelled | $ / shares 21.20  
Weighted Average Exercise Price, Options outstanding Ending Balance | $ / shares 13.99 $ 9.03
Weighted Average Exercise Price, Exercisable | $ / shares $ 6.34  
Weighted Average Remaining Contractual Term (in years), Options outstanding 8 years 2 months 12 days 8 years 6 months
Weighted Average Remaining Contractual Term (in years), Exercisable 7 years 3 months 18 days  
Aggregate Intrinsic Value, Options outstanding | $ $ 47,735 $ 99,107
Aggregate Intrinsic Value, Exercisable | $ $ 31,542