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CONDENSED CONSOLIDATED STATEMENTS OF CASH FLOWS - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2021
Mar. 31, 2021
Sep. 30, 2020
Mar. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Cash flows from operating activities:              
Net loss $ (18,091) $ (11,779) $ (8,557) $ (10,314) $ (65,567) $ (27,068)  
Adjustments to reconcile net loss to net cash used in operating activities:              
Depreciation and amortization 264   222   712 676  
Unrealized losses of marketable securities         634 0  
Loss on disposal of fixed assets         0 2  
Change in fair value of warrant liabilities         (3,442) 0  
Stock-based compensation expense         17,840 1,601  
Changes in operating assets and liabilities:              
Prepaid expenses and other current assets         (4,049) (155)  
Other assets         (117) 0  
Other assets - related party         738 228  
Accounts payable         1,268 411  
Accrued expenses and other current liabilities         2,627 1  
Other long-term liabilities         239 0  
Net cash used in operating activities         (49,117) (24,304)  
Cash flows from investing activities:              
Purchases of property and equipment         (2,354) (432)  
Purchases of marketable securities         (438,736) 0  
Net cash used in investing activities         (441,090) (432)  
Cash flows from financing activities:              
Proceeds from exercise of stock options         4,387 42  
Proceeds from issuance of Series E convertible preferred stock         0 10,310  
Net proceeds from equity infusion from the Business Combination         512,794 0  
Proceeds from issuance of notes payable         0 1,749  
Payment of notes payable         (1,749) 0  
Stock issuance costs for Series E convertible preferred stock         (4) (34)  
Principal payments under capital lease obligations         (28) (28)  
Net cash provided by financing activities         515,400 12,039  
Net increase (decrease) in cash and cash equivalents         25,193 (12,697)  
Cash and cash equivalents at beginning of period   $ 36,910   $ 32,930 36,910 32,930 $ 32,930
Cash and cash equivalents at end of period $ 62,103   $ 20,233   62,103 20,233 $ 36,910
Supplemental disclosure of cash flow information:              
Cash received from exchange of research and development tax credits         377 0  
Supplemental disclosure of noncash information:              
Noncash acquisition of property and equipment         599 18  
Forgiveness of related party promissory notes         150 20  
Noncash equity related transaction costs from the Business Combination         6 0  
Noncash equity related warrants from the Business Combination         11,618 0  
Conversion of the convertible preferred stock into Class A and Class B common stock         $ 195,810 $ 0