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Redeemable Convertible Preferred Stock and Stockholders’ Equity (Tables)
 9 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Equity [Abstract]    
Common Stock Reserved For Future Issuance
As of September 30, 2021, the Company had reserved the following shares of common stock for future issuance:
Options outstanding7,064,945 
Options reserved for future issuance12,730,521 
Restricted stock outstanding156,852 
Restricted stock units164,487 
Total authorized shares of common stock reserved for future issuance 20,116,805 
As of December 31, 2020, the Company had reserved the following shares of common stock for future issuance:
Conversion of Series A Preferred Stock10,138,200 
Conversion of Series A-1 Preferred Stock5,512,800 
Conversion of Series B Preferred Stock14,044,200 
Options reserved for future issuance1,938,321 
Options outstanding7,611,258 
Restricted stock outstanding156,852 
Total authorized shares of common stock reserved for future issuance 39,401,631