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Stock-Based Compensation - Schedule of Estimated Grant Date Fair Value of ESPP (Details) - Employee Stock
3 Months Ended 9 Months Ended
Sep. 30, 2021
$ / shares
Sep. 30, 2021
$ / shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Risk-free interest rate 0.06% 0.06%
Expected volatility 97.10% 97.10%
Expected term (in years) 6 months 6 months
Fair value of common stock (in dollars per share) $ 44.39 $ 44.39