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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