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Cash Equivalents and Marketable Securities (Tables)
 9 Months Ended
Sep. 30, 2021
Investments, Debt and Equity Securities [Abstract]  
Schedule of Cash and Cash Equivalents
The amortized costs, unrealized gains and losses, and estimated fair values of the Company’s cash equivalents and marketable securities were as follows (in thousands):
 As of December 31, 2020
 Amortized
Cost		Unrealized
Gain		Unrealized
Loss		Estimated
Fair Value
Cash equivalents:    
Money market funds$28,371 $— $— $28,371 
Marketable securities:
Commercial paper27,473 — — 27,473 
Corporate securities6,940 — (2)6,938 
U.S. Treasury securities16,157 1 — 16,158 
Asset-backed securities2,772 — — 2,772 
Total marketable securities53,342 1 (2)53,341 
Total$81,713 $1 $(2)$81,712 
 As of December 31, 2019
 Amortized
Cost		Unrealized
Gain		Unrealized
Loss		Estimated
Fair Value
Cash equivalents:    
Money market funds$4,090 $— $— $4,090 
Marketable securities:
Certificates of deposit4,586 — — 4,586 
Commercial paper18,128 — — 18,128 
Corporate securities11,176 2 — 11,178 
U.S. Treasury securities51,317 28 — 51,345 
Asset-backed securities10,203 5 — 10,208 
Total marketable securities95,410 35 — 95,445 
Total$99,500 $35 $— $99,535 
Schedule of Debt Securities, Available-for-sale
The amortized costs, unrealized gains and losses, and estimated fair values of the Company’s cash equivalents and marketable securities were as follows (in thousands):
 As of December 31, 2020
 Amortized
Cost		Unrealized
Gain		Unrealized
Loss		Estimated
Fair Value
Cash equivalents:    
Money market funds$28,371 $— $— $28,371 
Marketable securities:
Commercial paper27,473 — — 27,473 
Corporate securities6,940 — (2)6,938 
U.S. Treasury securities16,157 1 — 16,158 
Asset-backed securities2,772 — — 2,772 
Total marketable securities53,342 1 (2)53,341 
Total$81,713 $1 $(2)$81,712 
 As of December 31, 2019
 Amortized
Cost		Unrealized
Gain		Unrealized
Loss		Estimated
Fair Value
Cash equivalents:    
Money market funds$4,090 $— $— $4,090 
Marketable securities:
Certificates of deposit4,586 — — 4,586 
Commercial paper18,128 — — 18,128 
Corporate securities11,176 2 — 11,178 
U.S. Treasury securities51,317 28 — 51,345 
Asset-backed securities10,203 5 — 10,208 
Total marketable securities95,410 35 — 95,445 
Total$99,500 $35 $— $99,535 
Investments Classified by Contractual Maturity Date
The following tables present the contractual maturities of the Company’s marketable securities (in thousands):
 As of December 31, 2020
 
Amortized
Cost
Estimated
Fair Value
Due within one year$53,342 $53,341 
 As of December 31, 2019
 
Amortized
Cost
Estimated
Fair Value
Due within one year$95,410 $95,445