Stock Based Compensation Expense - Summary of Stock Option Activities (Details) - $ / shares	9 Months Ended
Sep. 30, 2021
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Number of Options Outstanding, Beginning Balance	2,247,136
Number of Options, Granted	500,877
Number of Options, Forfeited	(154,227)
Number of Options, Exercised	(58,290)
Number of Options, Expired	(3,286)
Number of Options Outstanding, Ending Balance	2,532,210
Weighted Average Exercise Price Per Share, Granted	$ 12.08
Weighted Average Exercise Price Per Share, Forfeited	6.56
Weighted Average Exercise Price Per Share, Exercised	2.96
Weighted Average Exercise Price Per Share, Expired	$ 0.73
Number of Options Vested and exercisable at September 30, 2021	1,399,015

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Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements.

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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.

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

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options of the plan that expired.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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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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