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EQUITY INCENTIVE PLAN, Stock Option Activity (Details) - 2013 and 2021 Plans [Member] - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2021
Jun. 30, 2021
Sep. 30, 2021
Dec. 31, 2020
Stock Options [Member]        
Stock Option Activity [Abstract]        
Stock-based compensation expense $ 1,556   $ 4,608  
Number of Options [Roll Forward]        
Outstanding, beginning balance (in shares)   7,369,541 7,369,541  
Granted (in shares)     3,104,585  
Exercised (in shares)     (2,163,932)  
Forfeited (in shares)     (184,017)  
Outstanding, ending balance (in shares) 8,126,177   8,126,177 7,369,541
Options exercisable (in shares) 4,371,817   4,371,817  
Vested and expected to vest (in shares) 7,805,361   7,805,361  
Weighted Average Exercise Price [Roll Forward]        
Outstanding, beginning balance (in dollars per share)   $ 2.37 $ 2.37  
Granted (in dollars per share)     9.07  
Exercised (in dollars per share)     2.03  
Forfeited (in dollars per share)     8.64  
Outstanding, ending balance (in dollars per share) $ 4.88   4.88 $ 2.37
Options exercisable (in dollars per share) 2.61   2.61  
Vested and expected to vest (in dollars per share) $ 4.78   $ 4.78  
Weighted Average Remaining Contractual Term and Aggregate Intrinsic Value [Abstract]        
Weighted average remaining contractual term, outstanding     7 years 7 months 2 days 6 years 9 months 7 days
Weighted average remaining contractual term, options exercisable     6 years 2 months 15 days  
Weighted average remaining contractual term, vested and expected to vest     7 years 6 months 10 days  
Aggregate intrinsic value, outstanding, beginning balance   $ 4,094 $ 4,094  
Aggregate intrinsic value, outstanding, ending balance $ 30,222   30,222 $ 4,094
Aggregate intrinsic value, options exercisable 25,100   25,100  
Aggregate intrinsic value, vested and expected to vest $ 29,784   29,784  
Stock Options Subject to Service and/or Performance Conditions [Member]        
Stock Option Activity [Abstract]        
Stock-based compensation expense   $ 1,343 $ 2,381