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Stock-Based Compensation - Summary of Stock Option Activity (Details) - 2020 Plan - $ / shares
shares in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Weighted Average Remaining Contractual Life (in years)    
Outstanding, Weighted Average Remaining Contractual Life 10 years  
Stock Options    
Number of Unvested Options    
Outstanding at December 31, 2020 2,159  
Granted 1,647  
Exercise 0  
Forfeited/cancelled (286)  
Outstanding at September 30, 2021 3,520 2,159
Vested at September 30, 2021 1,208  
Weighted Average Exercise Price Per Share    
Outstanding at December 31, 2020 $ 5.00  
Granted 5.15  
Exercise 5.00  
Forfeited/cancelled 5.00  
Outstanding at September 30, 2021 5.07  
Vested at September 30, 2021 $ 5.00  
Weighted Average Remaining Contractual Life (in years)    
Outstanding, Weighted Average Remaining Contractual Life 9 years 2 months 12 days 9 years 1 month 6 days
Granted , Weighted Average Remaining Contractual Life 9 years 6 months  
Vested, Weighted Average Remaining Contractual Life at September 30, 2021 8 years 10 months 24 days