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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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