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Redeemable Convertible Preferred Stock and Stockholders’ Equity - Additional Information (Details) $ / shares in Units, $ in Thousands |  |  |  | 12 Months Ended |  |  |
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Mar. 15, 2021 | Dec. 19, 2019 | Jan. 31, 2019 $ / shares shares | Dec. 31, 2020 USD ($) installment vote $ / shares shares | Dec. 31, 2019 USD ($) $ / shares shares | Sep. 30, 2021 vote $ / shares shares | Feb. 28, 2019 USD ($) | Dec. 31, 2018 USD ($)
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Common stock, authorized (in shares) |  |  |  | 300,000,000 | 300,000,000 | 0 |  |
Common stock, par value (in USD per share) | $ / shares |  |  |  | $ 0.00001 | $ 0.00001 | $ 0.00001 |  |
Preferred stock, authorized (in shares) |  |  |  | 9,898,400 | 9,898,400 | 100,000,000 |  |
Preferred stock, par value (in USD per share) | $ / shares |  |  |  | $ 0.00001 | $ 0.00001 | $ 0.00001 |  |
Stock split, conversion ratio | 3 | 100 |  |  |  |  |  |
Convertible preferred stock, IPO percentage of outstanding shares for mandatory conversion |  |  |  | 15.00% |  |  |  |
Convertible preferred stock, IPO minimum gross proceeds for mandatory conversion | $ |  |  |  | $ 80,000 |  |  |  |
Total authorized shares of common stock reserved for future issuance (in shares) |  |  |  | 39,401,631 |  | 20,116,805 |  |
Preferred stock dividend rights, minimum percentage of common stock dividend declared |  |  |  | 50.00% |  |  |  |
Preferred stock, redemption rights, maximum company valuation | $ |  |  |  | $ 500,000 |  |  |  |
Share Purchase Option, number of shares (in shares) |  |  | 1,837,600 |  |  |  |  |
Share Purchase Option, exercise price (in USD per share) | $ / shares |  |  | $ 2.72 |  |  |  |  |
Share Purchase Option, expiration period |  |  |  | 2 years |  |  |  |
Share Purchase Option, purchase price | $ |  |  |  |  |  |  | $ 5,000 |
Share Purchase Option, fair value | $ |  |  |  |  |  |  | $ 5,270 | $ 4,367
Share Purchase Option, change in fair value | $ |  |  |  | $ 0 | $ 903 |  |  |
Series A Preferred Stock |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Preferred stock, authorized (in shares) |  |  |  | 3,379,400 | 3,379,400 |  |  |
Convertible preferred stock, conversion price (in USD per share) | $ / shares |  |  |  | $ 0.79 | $ 0.79 |  |  |
Total authorized shares of common stock reserved for future issuance (in shares) |  |  |  | 10,138,200 |  |  |  |
Series A-1 Preferred Stock |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Preferred stock, authorized (in shares) |  |  |  | 1,837,600 | 1,837,600 |  |  |
Convertible preferred stock, conversion price (in USD per share) | $ / shares |  |  |  | $ 0.91 | $ 0.91 |  |  |
Total authorized shares of common stock reserved for future issuance (in shares) |  |  |  | 5,512,800 |  |  |  |
Series B Preferred Stock |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Preferred stock, authorized (in shares) |  |  |  | 4,681,400 | 4,681,400 | 0 |  |
Preferred stock, par value (in USD per share) | $ / shares |  |  |  | $ 0.00001 | $ 0.00001 | $ 0.00001 |  |
Convertible preferred stock, conversion price (in USD per share) | $ / shares |  |  |  | $ 1.71 | $ 1.71 |  |  |
Total authorized shares of common stock reserved for future issuance (in shares) |  |  |  | 14,044,200 |  |  |  |
Common Class A |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Common stock, authorized (in shares) |  |  |  | 0 |  | 1,000,000,000 |  |
Common stock, par value (in USD per share) | $ / shares |  |  |  | $ 0.00001 |  | $ 0.00001 |  |
Number of votes per share of stock held | vote |  |  |  | 1 |  | 1 |  |
Preferred Stock |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Number of votes per share of stock held | vote |  |  |  | 1 |  |  |  |
Convertible Preferred Stock |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Total authorized shares of common stock reserved for future issuance (in shares) |  |  |  | 29,695,200 | 29,695,200 |  |  |
Series A and Series A-1 Preferred Stock |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Preferred stock, redemption rights, number of installments | installment |  |  |  | 3 |  |  |  |

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