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Stock Option Plan - Stock Option Activity (Details) - Stock options $ / shares in Units, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2021 USD ($) $ / shares shares	Dec. 31, 2020 USD ($) $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Outstanding, December 31, 2020 (in shares) | shares	1,975,761
Granted (in shares) | shares	229,850
Exercised (in shares) | shares	(11,188)
Forfeited (in shares) | shares	(122,435)
Expired (in shares) | shares	(4,931)
Outstanding, June 30, 2021 (in shares) | shares	2,067,057	1,975,761
Vested and expected to vest, June 30, 2021 (in shares) | shares	2,067,057
Options exercisable, June 30, 2021 (in Shares) | shares	979,111
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Outstanding, December 31, 2020, Weighted Average Exercise Price (in dollars per share) | $ / shares	$ 11.81
Granted, Weighted Average Exercise Price (in dollars per share) | $ / shares	16.79
Exercised, Weighted Average Exercise Price (in dollars per share) | $ / shares	7.13
Forfeited, Weighted Average Exercise Price (in dollars per share) | $ / shares	14.49
Expired, Weighted Average Exercise Price (in dollars per share) | $ / shares	21.50
Outstanding, June 30, 2021, Weighted Average Exercise Price (in dollars per share) | $ / shares	12.20	$ 11.81
Vested and expected to vest, June 30, 2021, Weighted Average Exercise Price (in dollars per share) | $ / shares	12.20
Options exercised, June 30, 2021, Weighted Average Exercise Price (in dollars per share) | $ / shares	$ 10.30
Stock Options, Additional Disclosures [Abstract]
Outstanding, Weighted Average Remaining Contractual Term	8 years 1 month 20 days	8 years 8 months 15 days
Vested and expected to vest, Weighted Average Remaining Contractual Term	8 years 1 month 20 days
Options exercisable, Weighted Average Remaining Contractual Term	7 years 9 months 7 days
Outstanding, Aggregate Intrinsic Value | $	$ 6,956	$ 6,750
Vested and expected to vest, Aggregate Intrinsic Value | $	6,956
Options exercisable, Aggregate Intrinsic Value | $	$ 4,794

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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