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Stock-Based Compensation - Narrative (Details) - USD ($)
$ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
Apr. 20, 2021
Jul. 02, 2019
Jan. 19, 2016
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Payments for repurchase of Common Stock and options $ 1,171 $ 497 $ 4,857 $ 339,880      
Compensation expense 23,272 3,253 5,234 118,105      
Additional compensation expense   $ 900 1,900 800      
Stock repurchase liability     $ 1,000 200      
Unrecognized stock compensation $ 18,900            
Series C and Series C-1 Preferred Stock              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Payments for repurchase of Common Stock and options       339,300      
Compensation expense       $ 115,700      
2016 Equity Incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Reserved for issuance (in shares) 10,583,077            
2021 Equity Incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Authorized issuance or sale of shares (in shares)         18,400,000    
Reserved for issuance (in shares) 16,618,508            
Stock options              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Unrecognized stock compensation, weighted-average period (in years) 2 years 6 months            
Stock options | 2016 Equity Incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Authorized issuance or sale of shares (in shares)           37,728,000 32,746,480
Vesting period (in years) 4 years            
Share grant expiration period (in years) 10 years            
Stock options | Tranche One | 2016 Equity Incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Vesting percentage 25.00%            
Employee Stock              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Authorized issuance or sale of shares (in shares)         3,350,000