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Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions	9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Feb. 05, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted	637,884	3,457,481
Aggregate grant date fair value of options granted	$ 8.7	$ 6.7
Unrecognized compensation expense related to stock options	$ 14.0
Unrecognized share based compensation expense, recognition period	2 years 8 months 8 days
Number unvested options	229,132
Weighted average exercise price of options exercised and unvested	$ 1.88
Proceeds from unvested options exercises	$ 0.4
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting rights description	vest over 48 months with 25% vesting after one year followed by ratable monthly vesting over the remaining three years
Vesting period	48 months
Contractual term	10 years
Tranche One \| Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period	1 year
Vesting percentage	25.00%
Tranche Two \| Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period	3 years
2021 Plan \| Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future issuance	2,480,665
2015 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future issuance			0