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Description of Organization and Summary of Significant Accounting Policies - Schedule of Fair Value Measurements (Details) - USD ($) $ in Thousands | Sep. 30, 2021 | Dec. 31, 2020
--- | --- | ---
Assets: |  |
Assets, Fair Value Disclosure | $ 145,230 |
Liabilities: |  |
Liabilities fair value |  | $ 551
Money Market Funds [Member] |  |
Assets: |  |
Assets, Fair Value Disclosure | 38,412 |
US Government Debt Securities [Member] |  |
Assets: |  |
Assets, Fair Value Disclosure |  |
Corporate Bonds [Member] |  |
Assets: |  |
Assets, Fair Value Disclosure | 102,823 |
Redeemable Convertible Preferred Stock Tranche Liability [Member] |  |
Liabilities: |  |
Liabilities fair value |  | 551
Level 1 [Member] |  |
Assets: |  |
Assets, Fair Value Disclosure | 42,407 |
Liabilities: |  |
Liabilities fair value |  |
Level 1 [Member] | Money Market Funds [Member] |  |
Assets: |  |
Assets, Fair Value Disclosure | 38,412 |
Level 1 [Member] | US Government Debt Securities [Member] |  |
Assets: |  |
Assets, Fair Value Disclosure | 3,995 |
Level 1 [Member] | Corporate Bonds [Member] |  |
Assets: |  |
Assets, Fair Value Disclosure |  |
Level 1 [Member] | Redeemable Convertible Preferred Stock Tranche Liability [Member] |  |
Liabilities: |  |
Liabilities fair value |  |
Level 2 [Member] |  |
Assets: |  |
Assets, Fair Value Disclosure | 102,823 |
Liabilities: |  |
Liabilities fair value |  |
Level 2 [Member] | Money Market Funds [Member] |  |
Assets: |  |
Assets, Fair Value Disclosure |  |
Level 2 [Member] | US Government Debt Securities [Member] |  |
Assets: |  |
Assets, Fair Value Disclosure |  |
Level 2 [Member] | Corporate Bonds [Member] |  |
Assets: |  |
Assets, Fair Value Disclosure | 102,823 |
Level 2 [Member] | Redeemable Convertible Preferred Stock Tranche Liability [Member] |  |
Liabilities: |  |
Liabilities fair value |  |
Level 3 [Member] |  |
Assets: |  |
Assets, Fair Value Disclosure |  |
Liabilities: |  |
Liabilities fair value |  | 551
Level 3 [Member] | Money Market Funds [Member] |  |
Assets: |  |
Assets, Fair Value Disclosure |  |
Level 3 [Member] | US Government Debt Securities [Member] |  |
Assets: |  |
Assets, Fair Value Disclosure |  |
Level 3 [Member] | Corporate Bonds [Member] |  |
Assets: |  |
Assets, Fair Value Disclosure |  |
Level 3 [Member] | Redeemable Convertible Preferred Stock Tranche Liability [Member] |  |
Liabilities: |  |
Liabilities fair value |  | $ 551

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