The Company and Basis of Presentation (Details) - USD ($) $ / shares in Units, $ in Thousands		3 Months Ended		9 Months Ended
	Jul. 21, 2020	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Organization, Consolidation and Presentation of Financial Statement [Line Items]
Net loss		$ 20,403	$ 8,601	$ 53,992	$ 29,456
Accumulated deficit		245,876		245,876		$ 191,884
Cash and cash equivalents		$ 197,001		197,001		$ 233,408
Offering costs, underwriting discounts and commissions				$ 0	$ 2,650
Convertible Preferred Stock
Organization, Consolidation and Presentation of Financial Statement [Line Items]
Number of convertible preferred stock converted (in shares)	50,462,272
IPO
Organization, Consolidation and Presentation of Financial Statement [Line Items]
Number of shares sold (in shares)	9,315,000
Shares offering price (in dollars per share)	$ 22.00
Net proceeds after deducting offering costs, underwriting discounts and commissions	$ 187,900
Offering costs, underwriting discounts and commissions	$ 17,000
Underwriters' Option
Organization, Consolidation and Presentation of Financial Statement [Line Items]
Number of shares sold (in shares)	1,215,000