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Commitment and Contingencies - Summary of Future Lease Payments of Operating Lease Liabilities (Details)
$ in Thousands
Sep. 30, 2021
USD ($)
Commitments And Contingencies Disclosure [Abstract]  
2021 remaining 3 months $ 492
2022 1,956
2023 2,390
2024 2,474
2025 2,561
Thereafter 6,432
Total minimum lease payments 16,305
Less: interest 3,766
Present value of lease liabilities $ 12,539