Commitments and Contingencies - Additional Information (Details) $ in Millions	1 Months Ended	3 Months Ended		9 Months Ended
	Dec. 31, 2017 ft²	Sep. 30, 2021 USD ($)	Sep. 30, 2020 USD ($)	Sep. 30, 2021 USD ($)	Sep. 30, 2020 USD ($)
Lessee Lease Description [Line Items]
Rent expense | $		$ 0.2	$ 0.2	$ 0.5	$ 0.4
Operating lease commence date	Feb. 01, 2018
Operating lease expiration date				Jun. 30, 2024
Massachusetts
Lessee Lease Description [Line Items]
Operating lease rentable area | ft²	7,531