Stock Incentive Plan and Stock-based Compensation - Summary of Changes in Stock Options Granted (Details) - $ / shares	9 Months Ended	12 Months Ended
Sep. 30, 2021	Dec. 31, 2020
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Number of Awards, Awards outstanding, Beginning balance	5,210,832
Number of Awards, Awards issued	1,391,803
Number of Awards, Awards exercised	(268,569)
Number of Awards, Awards forfeited	(357,617)
Number of Awards, Awards outstanding, Ending balance	5,976,449	5,210,832
Weighted-Average Exercise Price, Awards outstanding, Beginning balance	$ 17.66
Weighted-Average Exercise Price, Awards issued	35.02
Weighted-Average Exercise Price, Awards exercised	8.29
Weighted-Average Exercise Price, Awards forfeited	23.66
Weighted-Average Exercise Price, Awards outstanding, Ending balance	$ 21.76	$ 17.66
Weighted-Average Remaining Contractual Term, Balance	8 years 3 months 10 days	8 years 7 months 17 days

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Gross number of share options (or share units) granted during the period.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Number of share options (or share units) exercised during the current period.

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