Stock Based Compensation Expense - Summary of Weighted-average Remaining Contractual Life and Weighted-average Exercise Price of Options Outstanding and Options Vested and Exercisable (Details) - $ / shares	9 Months Ended
	Sep. 30, 2021	Dec. 31, 2020
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Number of Options Outstanding	2,532,210	2,247,136
Number of Options Vested and exercisable at September 30, 2021	1,399,015
Weighted-Average Exercise Price, Outstanding	$ 6.47
Weighted- Average Exercise Price Vested and exercisable at September 30, 2021	$ 4.51
Weighted- Average Remaining Contractual Life (Years) Outstanding at September 30, 2021	7 years 3 months 1 day
Weighted- Average Remaining Contractual Life (Years) Vested and exercisable at September 30, 2021	5 years 11 months 10 days