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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%