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Stockholders’ Equity and Stock Option Plans - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
9 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Dec. 11, 2020
Nov. 30, 2020
Class of Stock [Line Items]        
Share-based payment arrangement, nonvested award, excluding option, cost not yet recognized, amount $ 14.7      
Discount from market price, purchase date 85.00%      
Amount withheld for employee stock purchase plan $ 1.5      
Share-based Payment Arrangement, Option        
Class of Stock [Line Items]        
Share-based payment arrangement, nonvested award, option, cost not yet recognized, amount $ 19.0      
Share-based payment arrangement, nonvested award, cost not yet recognized, period for recognition 2 years 10 months 28 days      
Restricted Stock Units (RSUs)        
Class of Stock [Line Items]        
Share-based payment arrangement, nonvested award, cost not yet recognized, period for recognition 3 years 5 months 4 days      
Employee Stock        
Class of Stock [Line Items]        
Common stock reserved for issuance (in shares) 834,866      
Share-based payment arrangement, nonvested award, cost not yet recognized, period for recognition 8 months 1 day      
Share-based payment arrangement, nonvested award, excluding option, cost not yet recognized, amount $ 2.4      
Percentage of outstanding stock maximum 1.00%      
Class A        
Class of Stock [Line Items]        
Common stock shares authorized 1,000,000,000 1,000,000,000 1,000,000,000  
Common stock par value (in usd per share) $ 0.0001 $ 0.0001 $ 0.0001  
Common stock reserved for issuance (in shares) 6,414,228      
Issuance of common stock related to employee stock purchase plan (in shares) 155,015      
Class A | Employee Stock        
Class of Stock [Line Items]        
Common stock reserved for issuance (in shares)       500,000
Number of shares authorized 7,500,000      
Class B        
Class of Stock [Line Items]        
Common stock shares authorized 1,000,000,000 1,000,000,000 1,000,000,000  
Common stock par value (in usd per share) $ 0.0001 $ 0.0001 $ 0.0001