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Stock Incentive Plan and Stock-based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Stock-based compensation expense (income)       $ (2)  
Weighted average per share fair value of awards issued     $ 12.52   $ 10.06
Stock-based compensation expense $ 4,664 $ 1,330 $ 11,722 $ 2,266  
Unrecognized stock-based compensation expense $ 63,450   $ 63,450    
Weighted average period     3 years 9 months 18 days    
2017 Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Stock options contractual term     10 years    
2020 Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Stock options contractual term     10 years    
2017 and 2020 Plans | Common Stock          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Stock vested     1,473,881   987,538
Employee Stock Purchase Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
ESPP permits eligible employees to purchase shares of common stock at discount     15.00%    
Total number of shares reserved for issuance 629,805   629,805    
Shares issued under the ESPP 0   0    
Amount of discount on ESSP $ 60   $ 80