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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
Number of Shares Outstanding    
Outstanding, Beginning | shares 1,123,496  
Granted | shares 566,500  
Exercised | shares (29,575)  
Forfeited/Cancelled | shares (151,165)  
Outstanding, Ending | shares 1,509,256 1,123,496
Exercisable | shares 200,181  
Weighted-Average Exercise Price    
Outstanding, Beginning | $ / shares $ 11.72  
Granted | $ / shares 35.78  
Exercised | $ / shares 2.07  
Forfeited/Cancelled | $ / shares 24.09  
Outstanding, Ending | $ / shares 19.70 $ 11.72
Exercisable | $ / shares $ 18.13  
Weighted-Average Remaining Contractual Term (Years)    
Outstanding 8 years 6 months 29 days 8 years 10 months 6 days
Exercisable 8 years 6 months 29 days  
Aggregate Intrinsic Value    
Outstanding, Beginning | $ $ 27,800  
Exercised | $ 366  
Outstanding, Ending | $ 1,036 $ 27,800
Exercisable | $ $ 53