Subsequent Events - Additional Information (Details) - USD ($)					1 Months Ended	3 Months Ended		9 Months Ended
	Nov. 30, 2021	Oct. 21, 2021	Oct. 20, 2021	Oct. 08, 2021	Oct. 21, 2021	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Subsequent Event [Line Items]
Common stock, shares authorized						144,406,928		144,406,928		144,406,928
Common stock, par value						$ 0.001		$ 0.001		$ 0.001
Deferred offering costs						$ 2,505,000		$ 2,505,000
Expenses incurred in connection with offering not yet paid						11,377,000		11,377,000		$ 10,204,000
Conversion of convertible notes to preferred stock						0	$ 0	0	$ 0
Delayed cash purchase obligation						15,000,000		15,000,000		15,000,000
Subsequent Event
Subsequent Event [Line Items]
Common stock, shares authorized		100,000,000			100,000,000
Common stock, par value		$ 0.001			$ 0.001
Preferred stock, shares authorized		5,000,000			5,000,000
Preferred stock, par value		$ 0.001			$ 0.001
BSC | Subsequent Event
Subsequent Event [Line Items]
Delayed cash purchase obligation	$ 15,000,000.0
Development milestone payment	$ 10,000,000.0
Initial Public Offering | Subsequent Event
Subsequent Event [Line Items]
Deferred offering costs		$ 3,300,000			$ 3,300,000
Initial Public Offering | Accounts Payable and Accrued Liabilities
Subsequent Event [Line Items]
Expenses incurred in connection with offering not yet paid						1,900,000		1,900,000
Convertible Preferred Stock | Subsequent Event
Subsequent Event [Line Items]
Number of common stock issued upon conversion			19,404,135
Redeemable Convertible Preferred Stock | Subsequent Event
Subsequent Event [Line Items]
Conversion of preferred stock			7,006,297
Conversion price per share			$ 11.31
Convertible Promissory Notes
Subsequent Event [Line Items]
Debt financing						$ 78,377,000		$ 78,377,000		$ 69,245,000
Convertible Promissory Notes | Subsequent Event
Subsequent Event [Line Items]
Conversion of convertible notes to preferred stock			$ 79,200,000
Common Stock | Initial Public Offering | Subsequent Event
Subsequent Event [Line Items]
Number of shares sold and issued		6,250,000			6,250,000
Shares issued offering price per share		$ 12.00			$ 12.00
Net proceeds from initial public offering		$ 69,800,000			$ 69,800,000
CIBC Agreement | Subsequent Event
Subsequent Event [Line Items]
Repayment of loan fixed rate percentage				2.50%
Debt financing				$ 40,000,000.0
Proceeds from repayments of debt				35,500,000
Payment of success fee				$ 400,000
Debt instrument interest rate increase				5.00%
CIBC Agreement | Minimum | Subsequent Event
Subsequent Event [Line Items]
Prepayment premium percentage				0.00%
CIBC Agreement | Maximum | Subsequent Event
Subsequent Event [Line Items]
Prepayment premium percentage				3.00%