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Subsequent event (Details)
$ / shares in Units, $ in Millions
1 Months Ended
Oct. 22, 2021
Nov. 30, 2021
USD ($)
$ / shares
shares
Oct. 31, 2021
shares
Sep. 30, 2021
shares
Jun. 30, 2021
shares
Mar. 31, 2021
shares
Dec. 31, 2020
shares
Sep. 30, 2020
shares
Jun. 30, 2020
shares
Mar. 31, 2020
shares
Dec. 31, 2019
shares
Subsequent Event [Line Items]                      
Shares of common stock reserved for issuance       19,185,183              
Common stock issuable upon conversion       19,185,183     11,788,435        
Preferred stock outstanding       138,821,984 138,821,984 138,821,984 85,299,885 85,299,885 61,284,517 61,284,517 37,269,149
Subsequent event                      
Subsequent Event [Line Items]                      
Reverse stock split ratio 0.1382                    
Preferred stock outstanding   0                  
Subsequent event | IPO                      
Subsequent Event [Line Items]                      
Aggregate shares issued and sold   10,436,250                  
Stock price | $ / shares   $ 20.00                  
Gross proceeds from issuance of common stock | $   $ 208.7                  
Net proceeds from issuance of common stock | $   $ 190.9                  
Common stock issuable upon conversion   19,185,183                  
Subsequent event | Over-Allotment Option                      
Subsequent Event [Line Items]                      
Shares issued   1,361,250                  
Subsequent event | 2021 Stock Option and Incentive Plan                      
Subsequent Event [Line Items]                      
Shares annual increase percentage     4.00%                
Shares of common stock reserved for issuance     3,902,672                
Subsequent event | 2021 Employee Stock Purchase Plan | ESPP                      
Subsequent Event [Line Items]                      
Shares annual increase percentage     1.00%                
Stock authorized for issuance     278,762                
Shares remaining available for future issuance     557,524