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Stock-Based Compensation (Details) - shares | 9 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | ---
Sep. 30, 2021 | Dec. 31, 2020 | Sep. 30, 2020 | Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Percent of common stock at fair market value to be exercised | 100.00% |  |  |
Expiration period (in years) | 10 years |  |  |
2014 Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Number of shares authorized |  |  | 4,842,180 | 717,360
2020 Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
New shares authorized |  | 2,152,080 |  |
Period of increase in common stock reserved for issuance |  | 10 years |  |
Percentage of increase in common stock reserved for issuance |  | 5.00% |  |
2020 Plan | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Number of shares authorized |  | 6,494,510 |  |
Shares available from prior equity incentive plan |  | 4,342,430 |  |
2020 Plan | Options to purchase common stock | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Number of shares authorized | 19,483,530 |  |  |

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