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Stock-Based Compensation - Schedule of Estimated Fair Value Assumptions Using Black Scholes Option-Pricing Model (Details) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2021
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]    
Expected term (in years) 6 years 1 month 2 days 6 years 21 days
Expected volatility 93.76% 95.00%
Risk-free interest rate 0.97% 0.84%
Fair value of common stock $ 20.05 $ 33.09