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Stock-Based Compensation - Option Activity (Details) - Employee, excluding CEO
$ / shares in Units, shares in Thousands, $ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Shares    
Beginning balance (in shares) | shares 11,985  
Granted (in shares) | shares 1,255  
Exercised (in shares) | shares (1,288)  
Forfeited and expired (in shares) | shares (249)  
Ending balance (in shares) | shares 11,703 11,985
Vested and expected to vest at the end of the period (in shares) | shares 11,703  
Exercisable at the end of the period (in shares) | shares 10,346  
Weighted Average Exercise Price    
Beginning balance (in dollars per share) | $ / shares $ 2.57  
Granted (in dollars per share) | $ / shares 12.69  
Exercised (in dollars per share) | $ / shares 0.73  
Forfeited and expired (in dollars per share) | $ / shares 4.31  
Ending balance (in dollars per share) | $ / shares 3.80 $ 2.57
Vested and expected to vest at the end of the period (in dollars per share) | $ / shares 3.80  
Exercisable at the end of the period (in dollars per share) | $ / shares $ 2.83  
Weighted Average Contractual Period (in Years)    
Outstanding balance (in years) 8 years 1 month 2 days 8 years 6 months
Vested and expected to vested at the end of the period (in years) 8 years 1 month 2 days  
Exercisable at the end of the period (in years) 7 years 11 months 1 day  
Aggregate Intrinsic Value    
Outstanding balance | $ $ 52,937 $ 131,770
Vested and expected to vest at the end of the period | $ 52,937  
Exercisable at the end of the period | $ $ 52,108  
Previously Reported    
Shares    
Beginning balance (in shares) | shares 26,459  
Ending balance (in shares) | shares   26,459
Weighted Average Exercise Price    
Beginning balance (in dollars per share) | $ / shares $ 1.16  
Ending balance (in dollars per share) | $ / shares   $ 1.16
Revision of Prior Period, Adjustment    
Shares    
Beginning balance (in shares) | shares 14,474  
Ending balance (in shares) | shares   14,474
Weighted Average Exercise Price    
Beginning balance (in dollars per share) | $ / shares $ 1.41  
Ending balance (in dollars per share) | $ / shares   $ 1.41