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Related Party Transactions - Additional Information (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2020
Related Party Transaction [Line Items] |  |  |  |  |
Redeemable convertible preferred stock | 0 |  | 0 |  | 0
Revenue—related party | $ 3,429 | $ 3,028 | $ 4,262 | $ 12,493 |
Regeneron Pharmaceuticals, Inc. |  |  |  |  |
Related Party Transaction [Line Items] |  |  |  |  |
Revenue—related party | 3,400 | $ 3,000 | 4,300 |  |
Deferred revenue | $ 10,100 |  | $ 10,100 |  |
Regeneron Pharmaceuticals, Inc. | Series B Convertible Preferred Stock [ Member ] |  |  |  |  |
Related Party Transaction [Line Items] |  |  |  |  |
Redeemable convertible preferred stock | 883,568 |  | 883,568 |  | 883,568

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