Common Stock - Schedule of Reserved Common Stock for Future Issuances (Details) - shares	Sep. 30, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Shares reserved for future issuance	10,276,748	14,714,687
Series A Redeemable Convertible Preferred Stock
Class Of Stock [Line Items]
Shares reserved for future issuance		12,343,727
Outstanding Stock Option Awards
Class Of Stock [Line Items]
Shares reserved for future issuance	4,984,240	306,739
Shares Available for Future Stock Option Grants
Class Of Stock [Line Items]
Shares reserved for future issuance	4,728,508	2,064,221
ESPP Shares Available for Future Grants
Class Of Stock [Line Items]
Shares reserved for future issuance	564,000