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Stock-Based Compensation - Summary of Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Share Based Compensation [Abstract]    
Number of Shares Available for Grant, Begining balance 1,739,621  
Number of Shares Available for Grant, Options authorized 2,287,089  
Number of Shares Available for Grant, Options granted (2,171,632)  
Number of Shares Available for Grant, Options forfeited or cancelled 838,419  
Number of Shares Available for Grant, Ending balance 2,693,497 1,739,621
Number of Shares Underlying Outstanding Options, Beginning balance 3,706,945  
Number of Shares Underlying Outstanding Options, Options granted 1,954,472  
Number of Shares Underlying Outstanding Options, Options exercised (546,642)  
Number of Shares Underlying Outstanding Options, Options forfeited or cancelled (838,419)  
Number of Shares Underlying Outstanding Options, Ending balance 4,276,356 3,706,945
Number of Shares Underlying Outstanding Options exercisable 1,329,752  
Number of Shares Underlying Outstanding Options, Vested and expected to vest 4,276,356  
Weighted-Average Exercise Price, Outstanding beginning | $ / shares $ 10.90  
Weighted-Average Exercise Price, Options granted | $ / shares 14.89  
Weighted-Average Exercise Price, Options exercised | $ / shares 2.98  
Weighted-Average Exercise Price, Options forfeited or cancelled | $ / shares 14.15  
Weighted-Average Exercise Price, Outstanding ending | $ / shares 13.10 $ 10.90
Weighted-Average Exercise Price, Options exercisable | $ / shares 9.77  
Weighted-Average Exercise Price, Vested and expected to vest | $ / shares $ 13.10  
Weighted-Average Remaining Contract Term, Outstanding 7 years 11 months 15 days 7 years 11 months 23 days
Weighted-Average Remaining Contract Term, Options exercisable 5 years 3 months 29 days  
Weighted-Average Remaining Contract Term, Vested and expected to vest 7 years 11 months 15 days  
Aggregate Intrinsic Value, Outstanding | $ $ 2,101 $ 15,126
Aggregate Intrinsic Value, Options exercisable | $ 1,907  
Aggregate Intrinsic Value, Vested and expected to vest | $ $ 2,101