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Redeemable Convertible Preferred Stock - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands | 1 Months Ended | 9 Months Ended | 12 Months Ended |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | ---
Mar. 31, 2021 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2020 | Aug. 12, 2021 | Jun. 30, 2021 | Jun. 30, 2020 | Mar. 31, 2020 | Dec. 31, 2019
Temporary Equity [Line Items] |  |  |  |  |  |  |  |  |
Proceeds from issuance of redeemable convertible preferred stock and related tranche rights, net of issuance costs |  | $ 93,939 | $ 0 |  |  |  |  |  |
Temporary Equity, Shares Outstanding |  | 0 |  | 7,140,157 |  |  |  |  |
Percentage of cumulative dividends receive |  | 8.00% |  |  |  |  |  |  |
Redeemable convertible preferred stock tranche liability |  | $ 0 |  | $ 551 |  |  |  |  |
Common stock |  | 26,199,262 |  | 3,418,751 |  |  |  |  |
Redemption date |  | Oct. 31, 2026 |  |  |  |  |  |  |
Accretion of redeemable convertible preferred stock to redemption value |  | $ 0 |  |  |  |  |  |  |
Underwritten Public Offering [Member] |  |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |  |
Temporary equity, automatic conversion, sale of common stock, price per share |  | $ 17.16 |  |  |  |  |  |  |
Series A1 Redeemable Convertible Preferred Stock [Member] |  |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |  |
Stock issued during period shares new issues | 4,358,972 |  |  |  |  |  |  |  |
Proceeds from issuance of redeemable convertible preferred stock and related tranche rights, net of issuance costs | $ 34,000 |  |  |  |  |  |  |  |
Temporary Equity, Shares Outstanding |  |  |  | 1,923,075 |  |  |  |  |
Redeemable convertible preferred stock tranche liability |  | $ 12,300 |  |  |  |  |  |  |
Temporary equity liquidation preference |  | $ 7.80 |  |  |  |  |  |  |
Dividends preferred stock |  | $ 2,500 |  | $ 1,100 |  |  |  |  |
Preferred dividend, per share |  | $ 0.40 |  | $ 0.56 |  |  |  |  |
Series B Redeemable Convertible Preferred Stock [Member] |  |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |  |
Stock issued during period shares new issues | 3,846,150 |  |  |  |  |  |  |  |
Proceeds from issuance of redeemable convertible preferred stock and related tranche rights, net of issuance costs | $ 60,000 |  |  |  |  |  |  |  |
Temporary equity liquidation preference |  | 15.60 |  |  |  |  |  |  |
Temporary equity, automatic conversion, sale of common stock, price per share |  | $ 17.16 |  |  |  |  |  |  |
Series B Redeemable Convertible Preferred Stock [Member] | Minimum [Member] |  |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |  |
Percentage of outstanding shares |  | 70.00% |  |  |  |  |  |  |
Series A Redeemable Convertible Preferred Stock [Member] |  |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |  |
Temporary Equity, Shares Outstanding |  |  |  | 2,717,082 |  |  |  |  |
Temporary equity liquidation preference |  | $ 6.00 |  |  |  |  |  |  |
Sale of stock, price (in dollars per share) |  | $ 6.00 |  |  |  |  |  |  |
Dividends preferred stock |  | $ 3,800 |  | $ 2,500 |  |  |  |  |
Preferred dividend, per share |  | $ 0.72 |  | $ 0.48 |  |  |  |  |
Redeemable Convertible Preferred Stock [Member] |  |  |  |  |  |  |  |  |
Temporary Equity [Line Items] |  |  |  |  |  |  |  |  |
Temporary Equity, Shares Outstanding | 11,499,129 | 0 | 3,999,133 | 7,140,157 | 15,345,279 | 15,345,279 | 3,999,133 | 3,999,133 | 3,999,133
Temporary equity, automatic conversion, sale of common stock, price per share |  | $ 17.16 |  |  |  |  |  |  |
Temporary equity, automatic conversion, sale of common stock, gross proceeds |  | $ 80,000 |  |  |  |  |  |  |
Common stock |  | 15,345,279 |  |  |  |  |  |  |

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