Stockholders' Equity - Schedule of Stock Option Activity (Details) - Common stock options - $ / shares	9 Months Ended
	Sep. 30, 2021
Number of Options
Balance at the beginning of the period (in shares)	6,507,000
Granted (in shares)	1,511,000
Exercised (in shares)	(1,307,000)
Forfeited (in shares)	(104,000)
Balance at the end of the period (in shares)	6,607,000
Vested and expected to vest (in shares)	6,607,000
Exercisable (in shares)	2,885,000
Exercise Price
Balance at the beginning of the period (in dollars per share)	$ 3.94
Granted (in dollars per share)	8.03
Exercised (in dollars per share)	2.70
Forfeited (in dollars per share)	6.01
Balance at the end of the period (in dollars per share)	5.08
Vested and expected to vest (in dollars per share)	5.08
Exercisable (in dollars per share)	$ 3.95