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Stock-Based Compensation - 2020 Employee Stock Purchase Plan (Details) $ in Thousands | 3 Months Ended | 9 Months Ended | 12 Months Ended
--- | --- | --- | ---
Sep. 30, 2021 USD ($) | Sep. 30, 2020 USD ($) | Sep. 30, 2021 USD ($) | Sep. 30, 2020 USD ($) | Dec. 31, 2020 period shares
Stock-Based Compensation |  |  |  |  |
Percent of common stock at fair market value to be exercised |  |  | 100.00% |  |
Stock-based compensation expense | $ 4,157 | $ 582 | $ 11,286 | $ 736 |
Employee stock purchase plan contingently issuable |  |  |  |  |
Stock-Based Compensation |  |  |  |  |
Percentage of eligible earnings withheld |  |  |  |  | 15.00%
Percent of common stock at fair market value to be exercised |  |  |  |  | 85.00%
Number of months for each purchase period |  |  |  |  | 6 months
Number of purchase periods | period |  |  |  |  | 2
Common stock reserved for issuance | shares |  |  |  |  | 430,416
Stock-based compensation expense |  |  | $ 100 |  |
Employee stock purchase plan contingently issuable | Maximum |  |  |  |  |
Stock-Based Compensation |  |  |  |  |
Offering period |  |  |  |  | 27 months
Stock-based compensation expense | $ 100 |  |  |  |

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