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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, shares in Thousands
9 Months Ended 12 Months Ended
Jan. 01, 2021
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Jun. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Unvested stock expected to be recognized over a weighted-average period   2 years 10 months 24 days      
Weighted average grant date fair value for options granted   $ 3.82 $ 3.42    
Restricted Stock          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Unrecognized compensation cost relating to unvested restricted stock awards   $ 8,600,000      
Unvested stock expected to be recognized over a weighted-average period   1 year 10 months 24 days      
Unrecognized compensation cost relating to stock compensation expense for restricted stock awards, total   $ 1,000,000.0      
Stock Options          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Unvested stock expected to be recognized over a weighted-average period   2 years 1 month 6 days      
Aggregate intrinsic value for options vested and outstanding   $ 0 $ 0    
Unrecognized compensation cost relating to outstanding options   7,600,000      
Restricted stock and Stock options          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Unrecognized compensation cost relating to outstanding options   $ 8,600,000      
2020 Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of common stock reserved for issuance         2,930
Automatic increases common stock for issuance 2,080        
Number of common stock reserved for issuance   1,500      
Stock options, vesting period   4 years      
Stock options, contractual life   10 years      
2020 Plan | Stock Options          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Stock options, contractual life   9 years 2 months 12 days   9 years 1 month 6 days  
Stock options granted   1,647