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Equity Incentive Plans - Summary of Company stock Option Activity (Detail) - 2011 Plan and 2021 Plan
$ / 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, Additional General Disclosures [Abstract]    
Shares Available for Grant 5,331,595 451,670
Shares Available for Grant, Forfeited/cancelled 107,128  
Shares Available for Grant 451,670  
Shares Available for Grant, Granted (2,487,203)  
Shares Available for Grant, Additional shares reserved 7,260,000  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]    
Number of Shares 3,137,776  
Number of Shares, Granted 2,487,203  
Number of Shares, Forfeited/cancelled (107,128)  
Number of Shares, Exercised/released (264,882)  
Number of Shares 5,252,969 3,137,776
Number of Shares Vested and exercisable as of September 30, 2021 2,054,954  
Number of Shares, Vested and expected to vest as of Septmeber 30, 2021 5,222,969  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]    
Weighted-Average Exercise Price | $ / shares $ 0.94  
Weighted-Average Exercise Price, Granted | $ / shares 11.13  
Weighted-Average Exercise Price, Forfeited/cancelled | $ / shares 2.89  
Weighted-Average Exercise Price, Exercised/released | $ / shares 1.01  
Weighted-Average Exercise Price | $ / shares 5.72 $ 0.94
Weighted-Average Exercise Price, Vested and exercisable as of September 30, 2021 | $ / shares 1.46  
Weighted-Average Exercise Price, Expected to vest as of September 30, 2021 | $ / shares $ 5.75  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term    
Weighted Average Remaining Contractual Term 7 years 7 months 6 days 6 years 9 months 18 days
Weighted average contractual term, vested and exercisable 5 years 2 months 12 days  
Weighted average contractual term, vested and expected 7 years 8 months 12 days  
Average Intrinsic Value | $ $ 89,340 $ 18,656
Average Intrinsic Value, Vested and exercisable as of September 30, 2021 | $ 43,650  
Average Intrinsic Value, Vested and expected as of September 30, 2021 | $ $ 88,662