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Stock-based Compensation - Summary of Stock Option Activity (Details) - 2019 Plan - USD ($)
$ / shares in Units, $ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Shares Available, Ending Balance 2,746,829  
Share-based Payment Arrangement, Option    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Shares Outstanding, Beginning Balance 1,481,100  
Number of Shares Outstanding, Stock options granted 726,195  
Number of Shares Outstanding, Stock options exercised (104,104)  
Number of Shares Outstanding, Stock options forfeited (120,893)  
Number of Shares Outstanding, Ending Balance 1,982,298 1,481,100
Weighted Average Exercise Price Per Share, Beginning Balance $ 16.13  
Weighted Average Exercise Price Per Share, Stock options granted 20.56  
Weighted Average Exercise Price Per Share, Stock options exercised 10.19  
Weighted Average Exercise Price Per Share, Stock options forfeited 21.07  
Weighted Average Exercise Price Per Share, Ending Balance $ 17.77 $ 16.13
Average Remaining Contractual Term (Years), Balance 8 years 2 months 19 days 8 years 4 months 9 days
Aggregate Intrinsic Value $ 28,364 $ 11,123