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Stock-Based Compensation - Schedule of Stock Option Activity (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Number of shares    
Options outstanding at beginning of period (in shares) | shares 3,305  
Options granted (in shares) | shares 537  
Options exercised (in shares) | shares (641)  
Options forfeited and cancelled (in shares) | shares (232)  
Options outstanding at end of period (in shares) | shares 2,969 3,305
Options vested and exercisable (in shares) | shares 1,886  
Weighted-average exercise price per share    
Weighted-average exercise price of options outstanding at beginning of period (in USD per share) | $ / shares $ 3.86  
Weighted-average exercise price of options granted (in USD per share) | $ / shares 18.70  
Weighted-average exercise price of options exercised (in USD per share) | $ / shares 2.50  
Weighted-average exercise price of options forfeited and cancelled (in USD per share) | $ / shares 7.04  
Weighted-average exercise price of options outstanding at end of period (in USD per share) | $ / shares 6.59 $ 3.86
Weighted-average exercise price of options vested and exercisable (in USD per share) | $ / shares $ 3.08  
Weighted-average remaining contractual life of options outstanding (in years) 6 years 11 months 8 days 7 years 2 months 15 days
Weighted-average remaining contractual life of options vested and exercisable (in years) 5 years 11 months 19 days  
Aggregate intrinsic value of options outstanding | $ $ 122,763 $ 22,952
Aggregate intrinsic value of options vested and exercisable | $ $ 84,618