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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