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Stock-Based Compensation - Additional Information (Details) - USD ($) |  |  | 1 Months Ended | 3 Months Ended | 9 Months Ended | 12 Months Ended
--- | --- | --- | --- | --- | --- | ---
Mar. 03, 2021 | Jul. 28, 2020 | Jul. 31, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2020 | Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Stock-based compensation |  |  |  | $ 627,000 | $ 258,000 | $ 1,789,000 | $ 672,000 | $ 1,079,000 | $ 504,000
Unrecognized compensation cost |  |  |  | $ 4,780,000 |  | $ 4,780,000 |  | $ 5,557,000 |
Unrecognized compensation cost, period of recognition |  |  |  |  |  | 2 years 10 months 2 days |  | 3 years 3 months 21 days |
Expected dividend yield |  |  |  |  | 0.00% | 0.00% | 0.00% | 0.00% | 0.00%
Granted (in shares) |  |  |  | 0 |  | 229,053 |  | 2,181,900 |
Weighted-average grant date fair value of options granted (in USD per share) |  |  |  |  | $ 0.89 | $ 6.13 | $ 0.74 | $ 2.01 | $ 0.57
Tax benefit |  |  |  | $ 0 | $ 0 | $ 0 | $ 0 | $ 0 |
Aggregate intrinsic value of options outstanding |  |  |  | 150,739,000 |  | 150,739,000 |  | 36,816,000 | $ 1,401,000
Aggregate intrinsic value of options exercised |  |  |  | 11,918,000 |  | 12,410,000 |  | 566,000 | $ 55,000
Aggregate intrinsic value of options exercisable |  |  |  | $ 73,732,000 |  | $ 73,732,000 |  | $ 14,967,000 |
Vested (in shares) |  |  |  | 51,762 |  |  |  |  |
Restricted Stock Units (RSUs) |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Service period |  |  |  |  |  | 4 years |  |  |
Stock-based compensation |  |  |  | $ 139,000 |  | $ 284,000 | $ 0 |  |
Awards granted (in shares) |  |  |  | 9,462 |  | 164,487 | 0 |  |
Vested (in shares) |  |  |  |  |  | 0 |  |  |
Restricted stock |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Service period |  | 3 years |  |  |  |  |  |  |
Awards granted (in shares) |  | 156,852 |  |  |  |  |  |  |
Fair value of awards granted |  | $ 291,000 |  |  |  |  |  |  |
ESPP |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares reserved and authorized (in shares) | 3,000,667 |  |  | 3,000,667 |  | 3,000,667 |  |  |
Percent of outstanding shares | 1.00% |  |  |  |  | 1.00% |  |  |
2019 Plan |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares reserved and authorized (in shares) |  |  | 10,163,772 |  |  |  |  |  | 8,682,600
Award vesting period |  |  | 4 years |  |  |  |  |  |
Award expiration period |  |  | 10 years |  |  |  |  |  |
2021 Plan |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares reserved and authorized (in shares) |  |  |  | 13,503,001 |  | 13,503,001 |  |  |
Percent of outstanding shares |  |  |  |  |  | 5.00% |  |  |

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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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