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Equity Incentive Plans - Summary of Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of Options, Granted 548,375   548,375  
Number of Options, exercised (236,660)   (236,660)  
2020 and 2021 Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of Options, Outstanding beginning period   306,739    
Number of Options, exercised   (922,208)    
Number of Options, cancelled   (294,630)    
Number of Options, Outstanding ending period   4,984,240   306,739
Number of Options, Exercisable   366,703    
Number of Options, Vested and expected to vest   4,984,240    
Weighted Average Exercise Price Per Share, outstanding beginning period   $ 0.29    
Weighted Average Exercise Price Per Share, exercised   0.31    
Weighted Average Exercise Price Per Share, cancelled   7.18    
Weighted Average Exercise Price Per Share, outstanding ending period   8.29   $ 0.29
Weighted Average Exercise Price Per Share, exercisable   5.38    
Weighted Average Exercise Price Per Share, Vested and expected to vest   $ 8.29    
Weighted Average Remaining Contractual Term, Outstanding   9 years 6 months   9 years 10 months 24 days
Weighted Average Remaining Contractual Term, exercisable   9 years 4 months 24 days    
Weighted Average Remaining Contractual Term, Vested and expected to vest   9 years 6 months    
Aggregate Intrinsic Value, Outstanding   $ 40,390   $ 1,365
Aggregate Intrinsic Value, Exercisable   4,038    
Aggregate Intrinsic Value, Vested and expected to vest   $ 40,390    
2020 Stock Option and Grant Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of Options, Granted   4,986,847    
Weighted Average Exercise Price Per Share, granted   $ 5.39    
2021 Stock Option and Incentive Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of Options, Granted   907,492   1,204,341
Weighted Average Exercise Price Per Share, granted   $ 18.45