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Stock Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		9 Months Ended		12 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted average grant-date fair value of options granted			$ 10.66		$ 4.30
Stock options vested and expected to vest aggregate intrinsic value	$ 4,300		$ 4,300		$ 13,600
Share-based payment arrangement, expense	$ 1,068	$ 634	$ 3,004	$ 1,956
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Offering period of employee stock purchase plan			6 months
Limited percentage of annual contribution	20.00%		20.00%
Percentage of discount and fair value of option			15.00%
Proceeds from stock issued during period	$ 200		$ 300
Number of stock issued during period	17,000		27,000
Employee Stock Purchase Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Purchase price percentage of market value of common stock			85.00%
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total unrecognized compensation cost of unvested stock options	$ 6,000		$ 6,000
Total unrecognized compensation cost, period for recognition			2 years 7 months 6 days
Restricted Stock Unit (RSU)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted average remaining contractual term			3 years
Total unrecognized compensation cost	$ 4,600		$ 4,600