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Stock-Based Compensation - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 9 Months Ended
Feb. 28, 2019
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Mar. 06, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based compensation expenses capitalized amount   $ 239,000 $ 45,000 $ 633,000 $ 259,000    
Shares available for issuance   3,745,216   3,745,216   2,689,624  
Stock-based compensation       $ 19,049,000 7,108,000    
Restricted Stock Units              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Vesting period       4 years      
Share-based compensation vesting rights, terms       The RSUs generally vest over a four-year period with straight-line annual vesting,      
2019 Equity Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Common stock reserved for issuance 2,000,430            
Automatic annual increase in common stock reserved for issuance 3.00%            
Maximum period of automatic annual increase in common stock reserved for issuance 10 years            
Shares available for issuance   3,745,216   3,745,216      
2019 Employee Stock Purchase Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Common stock reserved for issuance             300,650
Shares available for issuance   872,496   872,496      
Purchase shares of common stock, price per share, percentage of fair market value       85.00%      
Stock-based compensation   $ 333,000 $ 118,000 $ 890,000 $ 516,000