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Company and Nature of Business - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands |  |  |  | 3 Months Ended | 9 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | --- | --- | ---
Jul. 19, 2021 | Jul. 18, 2021 | Jul. 07, 2021 | Sep. 30, 2021 | Jun. 30, 2021 | Mar. 31, 2021 | Sep. 30, 2020 | Jun. 30, 2020 | Mar. 31, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2020 | Jul. 31, 2021
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds from initial public offering | $ 252,200 |  |  |  |  |  |  |  |  | $ 256,680 |  |  |
Conversion of redeemable convertible preferred stock |  | 25,534,404 |  |  |  |  |  |  |  | 25,534,404 |  |  |
Stock split |  |  | On July 7, 2021 the Company effected a 2-for-1 stock split of its issued and outstanding shares of common stock and a proportional adjustment to the existing conversion ratios for each series of the Company’s redeemable convertible preferred stock. |  |  |  |  |  |  |  |  |  |
Accumulated deficit |  |  |  | $ 137,065 |  |  |  |  |  | $ 137,065 |  | $ 90,041 |
Net loss |  |  |  | $ 17,169 | $ 17,615 | $ 12,240 | $ 8,097 | $ 8,316 | $ 9,175 | $ 47,024 | $ 25,588 |  |
Common stock, shares authorized |  |  |  | 200,000,000 |  |  |  |  |  | 200,000,000 |  | 21,831,000 |
Common stock, par value |  |  |  | $ 0.001 |  |  |  |  |  | $ 0.001 |  | $ 0.001 |
IPO |  |  |  |  |  |  |  |  |  |  |  |  |
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Sale of stock, price per share | $ 24.00 |  |  |  |  |  |  |  |  |  |  |  |
Underwriting discounts and commissions | $ 19,300 |  |  |  |  |  |  |  |  |  |  |  |
Estimated offering costs | $ 4,500 |  |  |  |  |  |  |  |  |  |  | $ 400 |
Warrants to purchase common stock | 659,028 |  |  |  |  |  |  |  |  |  |  |  |
Common stock, shares authorized |  |  |  |  |  |  |  |  |  |  |  |  | 200,000,000
Common stock, par value |  |  |  |  |  |  |  |  |  |  |  |  | $ 0.001
Preferred stock, shares authorized |  |  |  |  |  |  |  |  |  |  |  |  | 10,000,000
Preferred stock par value |  |  |  |  |  |  |  |  |  |  |  |  | $ 0.001
IPO | Common Stock |  |  |  |  |  |  |  |  |  |  |  |  |
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock issued | 10,000,000 |  |  |  |  |  |  |  |  |  |  |  |
Conversion of redeemable convertible preferred stock |  |  |  | 25,534,404 |  |  |  |  |  |  |  |  |
Underwriters' Option | Common Stock |  |  |  |  |  |  |  |  |  |  |  |  |
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock issued | 1,500,000 |  |  |  |  |  |  |  |  |  |  |  |

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