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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ in Millions
1 Months Ended 3 Months Ended 9 Months Ended
Feb. 28, 2021
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Restricted Stock            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Fair value of vested   $ 0.4 $ 0.2 $ 1.1 $ 0.6  
Restricted Stock Units            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Fair value of vested       0.2    
Unvested, RSUs   $ 0.2   0.2   $ 0.3
Granted, RSUs       $ 0.1    
2021 Incentive Award Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Increase in number of shares of common stock reserved for issuance expressed as percentage of outstanding shares 5.00%          
2021 Employee Stock Purchase Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Percentage related to employees able to purchase shares at lower of fair market value 85.00%          
Percentage of annual increase in shares available for issuance 1.00%          
2021 Employee Stock Purchase Plan | Maximum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Percentage allowed for eligible employees to purchase shares of common stock 15.00%