Stock Incentive Plans - Schedule of Stock Options Valuation Assumptions Using a Black-Scholes Option Pricing Model (Details) - $ / shares	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected volatility, minimum	66.30%	64.60%	64.60%	63.20%
Expected volatility, maximum	71.70%	65.20%	71.70%	65.40%
Weighted-average risk-free interest rate, minimum	0.81%	0.31%	0.50%	0.31%
Weighted-average risk-free interest rate, maximum	1.03%	0.40%	1.20%	1.73%
Expected term (in years)	6 years 3 months
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)		6 years 3 months	6 years 3 months	6 years 3 months
Underlying common stock fair value	$ 7.75	$ 16.48	$ 13.91	$ 21.75
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)		6 years	5 years 6 months	5 years 6 months
Underlying common stock fair value	$ 6.36	$ 10.10	$ 6.36	$ 10.10