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Equity Incentive Plans - Summary of Stock Based Compensation Fair Value Assumptions (Details)
3 Months Ended 6 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Jun. 30, 2021
Sep. 30, 2021
Sep. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Expected term (in years)   6 years 7 days      
Expected volatility   55.60%      
Risk-free interest rate   0.34%      
Dividend yield     0.00%    
Maximum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Expected term (in years) 6 years 25 days     6 years 29 days 6 years 1 month 2 days
Expected volatility 60.70%     60.80% 55.60%
Risk-free interest rate 1.16%     1.16% 1.77%
Minimum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Expected term (in years) 5 years 10 months 24 days     5 years 5 years 10 months 6 days
Expected volatility 60.30%     56.80% 48.30%
Risk-free interest rate 0.95%     0.48% 0.33%