Cash, Cash Equivalents and Marketable Securities - Summary of Amortized Cost and Estimated Fair Value of Available-for-Sale Marketable Securities by Contractual Maturity (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Fair Value Disclosures [Abstract]
Mature in one year or less, Amortized cost	$ 75,513
Mature after one year through two years, Amortized cost	20,737
Marketable securities, Amortized cost	96,250	$ 62,619
Mature in one year or less, Unrealized gains	5
Mature after one year through two years, Unrealized gains	6
Total available-for-sale marketable securities, Unrealized gains	11	6
Mature in one year or less, Unrealized losses	(5)
Mature after one year through two years, Unrealized losses	(4)
Total available-for-sale marketable securities, Unrealized losses	(9)	(3)
Mature in one year or less, Estimated Fair Value	75,513
Mature after one year through two years, Estimated Fair Value	20,739
Total available-for-sale marketable securities, Estimated Fair Value	$ 96,252	$ 62,622