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Stock-Based Compensation - Schedule of option activity (Details) - $ / shares	9 Months Ended	12 Months Ended
	Sep. 30, 2021	Dec. 31, 2020
Options
Options, beginning balance (in shares)	2,742,022
Options, granted (in shares)	235,704
Options, exercised (in shares)	(460,692)
Options, forfeited (in shares)	(25,847)
Options, ending balance (in shares)	2,491,187	2,742,022
Options, vested and expected to vest (in shares)	2,458,242
Options, exercisable (in shares)	1,186,961
Weighted Average Exercise Price
Weighted average exercise price, beginning balance (in dollars per share)	$ 7.95
Weighted average exercise price, granted (in dollars per share)
Weighted average exercise price, exercised (in dollars per share)
Weighted average exercise price, forfeited (in dollars per share)
Weighted average exercise price, ending balance (in dollars per share)	10.51	$ 7.95
Weighted average exercise price, vested and expected to vest (in dollars per share)	10.41
Weighted average exercise price, exercisable (in dollars per share)	$ 4.32
Weighted Average Remaining Contract Life (Years)
Weighted average remaining contract life, outstanding	8 years 2 months 4 days	8 years 9 months 25 days
Weighted average remaining contract life, vested and expected to vest	8 years 2 months 1 day
Weighted average remaining contract life, exercisable	7 years 7 months 28 days

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Gross number of share options (or share units) granted during the period.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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