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Stock-Based Compensation - Options Activity (Details) - $ / shares
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2021
Sep. 30, 2021
Dec. 31, 2020
Dec. 31, 2019
Number of Options        
Outstanding (in shares)   7,611,258 5,963,100  
Granted (in shares) 0 229,053 2,181,900  
Exercised (in shares)   (577,153) (457,341)  
Forfeited (in shares)   (198,213) (76,401)  
Outstanding (in shares) 7,064,945 7,064,945 7,611,258 5,963,100
Options exercisable (in shares) 3,346,067 3,346,067 2,804,358  
Weighted-Average Exercise Price        
Outstanding (in USD per share)   $ 1.37 $ 1.00  
Granted (in USD per share)   12.37 2.22  
Exercised (in USD per share)   1.18 0.55  
Forfeited (in USD per share)   2.35 1.23  
Outstanding (in USD per share) $ 1.72 1.72 1.37 $ 1.00
Options exercisable (in USD per share) $ 1.02 $ 1.02 $ 0.87  
Weighted-Average Remaining Contractual Term        
Outstanding   7 years 10 months 2 days 8 years 4 months 24 days 9 years 14 days
Options exercisable   7 years 11 months 26 days 7 years 7 months 6 days