Stock Based Compensation - Summary of Outstanding Stock Option Activity (Details) - $ / shares shares in Thousands	9 Months Ended	12 Months Ended
Sep. 30, 2021	Dec. 31, 2020
Share-based Payment Arrangement [Abstract]
Number of stock options, Beginning balance	1,760
Number of stock options, Granted	516
Number of stock options, Exercised	(226)
Number of stock options, Expired/Forfeited	(97)
Number of stock options, Ending balance	1,953	1,760
Number of stock options, Vested and exercisable	1,079
Number of stock options, Vested and expected to vest	1,953
Weighted average exercise price, Beginning balance	$ 10.07
Weighted average exercise price, Granted	22.43
Weighted average exercise price, Exercised	11.11
Weighted average exercise price, Expired/Forfeited	14.26
Weighted average exercise price, Ending balance	13.00	$ 10.07
Weighted average exercise price, Vested and exercisable	9.47
Weighted average exercise price, Vested and expected to vest	$ 13.00
Weighted average remaining contractual term (in years)	7 years 6 months	7 years 7 months 6 days
Weighted average remaining contractual term (in years), Vested and exercisable	6 years 6 months
Weighted average remaining contractual term (in years), Vested and expected to vest	7 years 6 months

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For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired.

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Weighted average price of options that were either forfeited or expired.

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Gross number of share options (or share units) granted during the period.

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Number of options outstanding, including both vested and non-vested options.

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Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Number of fully vested and expected to vest exercisable options that may be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for fully vested and expected to vest options outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of share options (or share units) exercised during the current period.

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