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Convertible Preferred Stock and Preferred Stock Warrants - Additional information (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 12 Months Ended
Jul. 02, 2020
Jul. 01, 2020
Sep. 30, 2020
Dec. 31, 2020
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Jun. 30, 2020
Mar. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Convertible Preferred Stock and Preferred Stock Warrants                        
Conversion of Convertible Preferred Stock to common stock upon closing of initial public offering (shares) 31,557,107 31,557,107 31,557,107 31,557,107                
Convertible preferred stock, outstanding (shares)     0 0 0 0 0 31,557,107 31,557,107 31,557,107 24,445,555 15,671,730
Convertible preferred stock, authorized (shares)       0           31,557,107    
Convertible preferred stock, par value (usd per share)       $ 0.00001           $ 0.00001    
Preferred stock, dividend rate       8.00%                
Aggregate minimum gross proceeds for conversion of preferred stock       $ 50.0