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Net Loss Per Share Attributable to Common Stockholders - Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share (Details) - shares
9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Anti-dilutive securities excluded from computation of earnings per share 5,252,969 14,899,512
Series A Redeemable Convertible Preferred Stock    
Anti-dilutive securities excluded from computation of earnings per share 0 3,804,344
Series B Redeemable Convertible Preferred Stock    
Anti-dilutive securities excluded from computation of earnings per share 0 1,209,621
Series C Redeemable Convertible Preferred Stock    
Anti-dilutive securities excluded from computation of earnings per share 0 2,342,857
Series D Redeemable Convertible Preferred Stock    
Anti-dilutive securities excluded from computation of earnings per share 0 2,447,818
Series E Redeemable Convertible Preferred Stock    
Anti-dilutive securities excluded from computation of earnings per share 0 1,899,847
Redeemable Convertible Preferred Stock Warrants    
Anti-dilutive securities excluded from computation of earnings per share 0 42,163
Options to Purchase Common Stock    
Anti-dilutive securities excluded from computation of earnings per share 5,229,169 3,152,862
Restricted Stock Units    
Anti-dilutive securities excluded from computation of earnings per share 23,800 0