Commitments and Contingencies - Summary of Commitments and Contingencies (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2021	Dec. 31, 2020
Loss Contingencies [Line Items]
Operating lease right-of-use assets	$ 7,095	$ 6,491
Operating lease liabilities	8,126	$ 7,682
Cash paid for lease liabilities	$ 1,719
Weighted-average remaining lease term (in years)	4 years 6 months 21 days
Weighted-average discount rate	5.13%