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Redeemable Convertible Preferred Stock - Summary of Redeemable Convertible Preferred Stock Issued and Outstanding (Details) - USD ($) $ / shares in Units, $ in Thousands | Sep. 30, 2021 | Jun. 30, 2021 | Mar. 31, 2021 | Dec. 31, 2020 | Sep. 30, 2020 | Mar. 31, 2020 | Dec. 31, 2019
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Class Of Stock [Line Items] |  |  |  |  |  |  |
Shares Issued |  |  |  | 12,767,202 |  |  |
Shares Outstanding |  |  |  | 12,767,202 |  |  |
Series A |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Shares Authorized |  |  |  | 3,804,344 |  |  |
Shares Issued |  |  |  | 3,804,344 |  |  |
Shares Outstanding |  |  |  | 3,804,344 |  |  |
Original Issuance Price |  |  |  | $ 1.38 |  |  |
Liquidation Amount |  |  |  | $ 5,250 |  |  |
Issuance Costs |  |  |  | 9 |  |  |
Carrying Value |  |  |  | $ 5,241 |  |  |
Series B |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Shares Authorized |  |  |  | 1,209,621 |  |  |
Shares Issued |  |  |  | 1,209,621 |  |  |
Shares Outstanding |  |  |  | 1,209,621 |  |  |
Original Issuance Price |  |  |  | $ 5.79 |  |  |
Liquidation Amount |  |  |  | $ 7,000 |  |  |
Issuance Costs |  |  |  | 106 |  |  |
Carrying Value |  |  |  | $ 6,894 |  |  |
Series C |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Shares Authorized |  |  |  | 2,372,371 |  |  |
Shares Issued |  |  |  | 2,342,857 |  |  |
Shares Outstanding |  |  |  | 2,342,857 |  |  |
Original Issuance Price |  |  |  | $ 9.49 |  |  |
Liquidation Amount |  |  |  | $ 22,226 |  |  |
Issuance Costs |  |  |  | 208 |  |  |
Carrying Value |  |  |  | $ 22,018 |  |  |
Series D |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Shares Authorized |  |  |  | 2,507,720 |  |  |
Shares Issued |  |  |  | 2,447,818 |  |  |
Shares Outstanding |  |  |  | 2,447,818 |  |  |
Original Issuance Price |  |  |  | $ 12.56 |  |  |
Liquidation Amount |  |  |  | $ 30,750 |  |  |
Issuance Costs |  |  |  | 647 |  |  |
Carrying Value |  |  |  | $ 30,103 |  |  |
Series E |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Shares Authorized |  |  |  | 1,921,902 |  |  |
Shares Issued |  |  |  | 1,899,847 |  |  |
Shares Outstanding |  |  |  | 1,899,847 |  |  |
Original Issuance Price |  |  |  | $ 15.87 |  |  |
Liquidation Amount |  |  |  | $ 30,150 |  |  |
Issuance Costs |  |  |  | 106 |  |  |
Carrying Value |  |  |  | $ 30,044 |  |  |
Series F |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Shares Authorized |  |  |  | 2,425,432 |  |  |
Shares Issued |  |  |  | 1,062,715 |  |  |
Shares Outstanding |  |  |  | 1,062,715 |  |  |
Original Issuance Price |  |  |  | $ 21.88 |  |  |
Liquidation Amount |  |  |  | $ 23,250 |  |  |
Issuance Costs |  |  |  | 219 |  |  |
Carrying Value |  |  |  | $ 23,031 |  |  |
Redeemable Convertible Preferred Stock |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |
Shares Authorized | 10,000,000 |  |  | 14,241,390 |  |  |
Shares Issued | 0 |  |  | 12,767,202 |  |  |
Shares Outstanding | 0 | 12,767,202 | 12,767,202 | 12,767,202 | 11,704,487 | 11,704,487 | 9,804,640
Liquidation Amount |  |  |  | $ 118,626 |  |  |
Issuance Costs |  |  |  | 1,295 |  |  |
Carrying Value | $ 0 | $ 117,331 | $ 117,331 | $ 117,331 | $ 94,244 | $ 94,311 | $ 64,256

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