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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