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Convertible Preferred Stock and Stockholders' Deficit - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 1 Months Ended | 9 Months Ended |
--- | --- | --- | --- | ---
Mar. 25, 2021 | Mar. 31, 2021 | Jan. 31, 2021 | Mar. 31, 2020 | Feb. 29, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2020
Convertible Preferred Stock And Stockholders Deficit [Line Items] |  |  |  |  |  |  |  |
Common stock, shares authorized |  |  |  |  |  | 200,000,000 |  | 60,000,000
Common stock, par value |  |  |  |  |  | $ 0.0001 |  | $ 0.0001
Convertible preferred stock, issued |  |  |  |  |  | 0 |  | 22,012,499
Convertible preferred stock, par value |  |  |  |  |  | $ 0.0001 |  | $ 0.0001
Proceeds from issuance of convertible preferred stock, net of issuance costs |  |  |  |  |  | $ 124,712 | $ 44,731 |
2021 Equity Incentive Award Plan |  |  |  |  |  |  |  |
Convertible Preferred Stock And Stockholders Deficit [Line Items] |  |  |  |  |  |  |  |
Common stock reserved for issuance | 6,118,648 |  |  |  |  |  |  |
Common stock issuance, description and terms |  |  |  |  |  | the number of shares of common stock available for issuance under the 2021 Plan will automatically increase on January 1 of each calendar year, starting on January 1, 2022 through January 1, 2031, in an amount equal to 5% of the total number of shares of the Company’s common stock on the last day of the calendar month before the date of each automatic increase, or a lesser number of shares determined by the Company’s board of directors. |  |
Percentage of number of shares that may be issued in accordance with plan | 5.00% |  |  |  |  |  |  |
2018 Equity Incentive Plan |  |  |  |  |  |  |  |
Convertible Preferred Stock And Stockholders Deficit [Line Items] |  |  |  |  |  |  |  |
Common stock remained available for issuance | 881,352 |  |  |  |  |  |  |
2021 Employee Stock Purchase Plan |  |  |  |  |  |  |  |
Convertible Preferred Stock And Stockholders Deficit [Line Items] |  |  |  |  |  |  |  |
Common stock reserved for issuance | 600,000 |  |  |  |  |  |  |
Common stock remained available for issuance | 1,200,000 |  |  |  |  |  |  |
Common stock issuance, description and terms |  |  |  |  |  | the number of shares of common stock available for issuance under the ESPP will automatically increase on January 1 of each calendar year, starting on January 1, 2022 through January 1, 2031, in an amount equal to the lesser of (i) 1% of the total number of shares of the Company’s common stock on the last day of the calendar month before the date of each automatic increase and (ii) 1,200,000 shares; provided that before the date of any such increase, the Company’s board of directors may determine that such increase will be less than the amount set forth in clauses (i) and (ii). As of September 30, 2021, no shares of the Company’s common stock have been purchased under the ESPP. |  |
Percentage of number of shares that may be issued in accordance with plan | 1.00% |  |  |  |  |  |  |
Maximum percentage of eligible earnings withheld to participate in offering | 15.00% |  |  |  |  |  |  |
Price of common stock purchased | 85.00% |  |  |  |  |  |  |
Number of common stock purchased |  |  |  |  |  | 0 |  |
Series A Convertible Preferred Stock |  |  |  |  |  |  |  |
Convertible Preferred Stock And Stockholders Deficit [Line Items] |  |  |  |  |  |  |  |
Share price |  |  |  |  | $ 1.65816 |  |  |
Convertible preferred stock, issued |  |  |  | 21,710,814 | 21,710,814 |  |  |
Convertible preferred stock, par value |  |  |  | $ 2.0727 | $ 2.0727 |  |  |
Proceeds from issuance of convertible preferred stock, net of issuance costs |  |  |  | $ 44,700 | $ 44,700 |  |  |
Converted shares |  |  |  |  | 301,685 |  |  |
Series B Convertible Preferred Stock |  |  |  |  |  |  |  |
Convertible Preferred Stock And Stockholders Deficit [Line Items] |  |  |  |  |  |  |  |
Convertible preferred stock, issued |  |  | 19,083,979 |  |  |  |  |
Convertible preferred stock, par value |  |  | $ 6.55 |  |  |  |  |
Proceeds from issuance of convertible preferred stock, net of issuance costs |  |  | $ 124,700 |  |  |  |  |
Common Stock |  |  |  |  |  |  |  |
Convertible Preferred Stock And Stockholders Deficit [Line Items] |  |  |  |  |  |  |  |
Initial public offering of common shares |  |  |  |  |  | 13,800,000 |  |
Common Stock | 2018 Equity Incentive Plan | Restricted Shares |  |  |  |  |  |  |  |
Convertible Preferred Stock And Stockholders Deficit [Line Items] |  |  |  |  |  |  |  |
Vesting period |  |  |  |  |  | 4 years |  |
Initial Public Offering |  |  |  |  |  |  |  |
Convertible Preferred Stock And Stockholders Deficit [Line Items] |  |  |  |  |  |  |  |
Common stock, shares authorized |  | 200,000,000 |  |  |  |  |  |
Common stock, par value |  | $ 0.0001 |  |  |  |  |  |
Preferred stock, authorized |  | 10,000,000 |  |  |  |  |  |
Preferred stock, par value |  | $ 0.0001 |  |  |  |  |  |
Initial public offering of common shares |  | 13,800,000 |  |  |  |  |  |
Share price |  | $ 20.00 |  |  |  |  |  |
Proceeds from sale of common stock |  | $ 254,300 |  |  |  |  |  |
Convertible preferred stock, shares issued upon conversion |  | 41,096,478 |  |  |  |  |  |
Initial Public Offering | Common Stock |  |  |  |  |  |  |  |
Convertible Preferred Stock And Stockholders Deficit [Line Items] |  |  |  |  |  |  |  |
Convertible preferred stock, shares issued upon conversion |  | 25,212,548 |  |  |  |  |  |

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