Convertible Preferred Stock and Stockholders' Equity (Deficit) - Summary of Common Stock Reserved for Future Issuance (Details) - shares	Sep. 30, 2021	Dec. 31, 2020
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	9,749,702	10,077,215
Conversion of Preferred Stock
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	0	8,760,535
Common Stock Options Outstanding
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	5,547,447	1,096,533
Shares Available for Issuance Under Plans
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	3,736,255	220,147
Shares Available for Issuance Under ESPP
Common Stock Reserved For Future Issuance [Line Items]
Common stock reserved for issuance	466,000	0