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Stock-Based Compensation - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
Jul. 28, 2020
Jul. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Total authorized shares of common stock reserved for future issuance (in shares)     20,116,805   20,116,805   39,401,631  
Stock-based compensation     $ 627,000 $ 258,000 $ 1,789,000 $ 672,000 $ 1,079,000 $ 504,000
Unrecognized compensation cost     4,780,000   $ 4,780,000   $ 5,557,000  
Unrecognized compensation cost, period of recognition         2 years 10 months 2 days   3 years 3 months 21 days  
Expected dividend yield       0.00% 0.00% 0.00% 0.00% 0.00%
Weighted-average grant date fair value of options granted (in USD per share)       $ 0.89 $ 6.13 $ 0.74 $ 2.01 $ 0.57
Tax benefit     0 $ 0 $ 0 $ 0 $ 0  
Aggregate intrinsic value of options outstanding     150,739,000   150,739,000   36,816,000 $ 1,401,000
Aggregate intrinsic value of options exercised     11,918,000   12,410,000   566,000 $ 55,000
Aggregate intrinsic value of options exercisable     $ 73,732,000   $ 73,732,000   $ 14,967,000  
Restricted stock                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Total authorized shares of common stock reserved for future issuance (in shares)     156,852   156,852   156,852  
Awards granted (in shares) 156,852              
Fair value of awards granted $ 291,000              
Service period 3 years              
2019 Plan                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Number of shares reserved and authorized (in shares)   10,163,772           8,682,600
Award vesting period   4 years            
Award expiration period   10 years            
Total authorized shares of common stock reserved for future issuance (in shares)             1,938,321,000,000 2,719,500,000,000