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Share-based Compensation - Summary of Stock Option Activities (Details) - $ / shares
 9 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Number of Stock Options    
Number of Options, Options outstanding, beginning of period 531,238  
Number of Options, Granted 170,200  
Number of Options, Forfeited and cancelled (60,815)  
Number of Options, Options outstanding, end of period 640,623 531,238
Number of Options, Options exercisable, end of period 125,951  
Number of Options, Options vested and expected to vest 639,557  
Stock Options, Weighted Average Exercise Price    
Weighted Average Exercise Price, Options outstanding, beginning of period $ 8.71  
Weighted Average Exercise Price, Granted 3.51  
Weighted Average Exercise Price, Forfeited and cancelled 12.71  
Weighted Average Exercise Price, Options outstanding, end of period 6.95 $ 8.71
Weighted Average Exercise Price, Options exercisable, end of period 18.98  
Weighted Average Exercise Price, Options vested and expected to vest, end of period $ 6.95  
Stock Options, Weighted Average Remaining Contractual Term    
Weighted Average Remaining Contractual Term (in years), Options outstanding 9 years 1 month 9 days 9 years 8 months 4 days
Weighted Average Remaining Contractual Term (in years), Options exercisable 8 years 3 months 3 days  
Weighted Average Remaining Contractual Term (in years), Options vested and expected to vest 9 years 1 month 9 days