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Stock Based Compensation (Details) - shares
9 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Shares of common stock reserved for issuance 19,185,183  
2016 Stock Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Maximum term of options 10 years  
Vesting period 4 years  
Shares of common stock reserved for issuance 3,110,588 1,997,099
Shares remaining available for future issuance 63,173