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Stock-Based Compensation - Additional Information (Details)
$ / shares in Units, $ in Millions
1 Months Ended 9 Months Ended
Feb. 28, 2019
IncentivePlan
shares
Sep. 30, 2021
USD ($)
$ / shares
shares
Sep. 30, 2020
$ / shares
Dec. 31, 2020
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of equity incentive plans | IncentivePlan 2      
Number of common shares, granted   1,371,000    
Number of shares available for future grant   1,400,000   900,000
Weighted average grant-date fair value of options granted | $ / shares   $ 10.53 $ 3.64  
Unrecognized compensation expense | $   $ 26.8    
Weighted-average period of unrecognized compensation expense   2 years 9 months 18 days    
Restricted Stock Units (RSUs)        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Weighted-average period of unrecognized compensation expense   2 years 3 months 18 days    
Total fair value of restricted stock units vested during the period | $   $ 0.4    
Unrecognized stock-based compensation expense related to RSUs | $   $ 10.5    
2009 Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of common shares, granted 0      
2015 Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Reverse stock split one-for-five       
2015 ESPP        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of shares available for future grant   0.7