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Stock Based Compensation - Summary of Stock Option Activity (Details) - Stock Options - 2018 and 2021 Equity Incentive Plans - USD ($)
$ / shares in Units, $ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock Options Outstanding, Beginning balance 1,445,426  
Stock Options Outstanding, Granted 1,882,441  
Stock Options Outstanding, Exercised (108,657)  
Stock Options Outstanding, Cancelled (128,361)  
Stock Options Outstanding, Ending balance 3,090,849 1,445,426
Stock Options vested or expected to vest 3,090,849  
Stock options exercisable 558,385  
Stock Options Outstanding, Weighted Average Exercise Price, Beginning Balance $ 2.62  
Stock Options Granted, Weighted Average Exercise Price 8.80  
Stock Options Exercised, Weighted Average Exercise Price 2.18  
Stock Options Cancelled, Weighted Average Exercise Price 4.82  
Stock Options Outstanding, Weighted Average Exercise Price, Ending balance 6.40 $ 2.62
Stock Options vested or expected to vest, Weighted Average Exercise Price 6.40  
Stock options exercisable, Weighted Average Exercise Price $ 2.44  
Stock Options Outstanding, Weighted Average Remaining Contractual Life 8 years 10 months 28 days 8 years 8 months 26 days
Stock Options vested or expected to vest, Weighted Average Remaining Contractual Life 8 years 10 months 28 days  
Stock options exercisable, Weighted Average Remaining Contractual Life 7 years 9 months 3 days  
Stock Options Outstanding, Intrinsic Value, Beginning $ 3,799  
Stock Options Outstanding, Intrinsic Value, Ending 9,452 $ 3,799
Stock Options vested or expected to vest, Intrinsic Value 9,452  
Stock options exercisable, Intrinsic Value $ 3,302