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Nature of Business (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
May 07, 2021
May 06, 2021
Jun. 30, 2021
Sep. 30, 2021
Mar. 31, 2021
Dec. 31, 2020
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Dec. 31, 2019
Sale of Stock [Line Items]                    
Common stock, par value (in USD per share) $ 0.0001     $ 0.0001   $ 0.0001        
Price per share (in USD per share) $ 16.00                  
Underwriting commissions, discounts, and offering costs     $ 12,200              
IPO Bonus $ 9,500                  
Payroll taxes and expenses $ 200                  
Common stock authorized (in shares)   1,000,000,000   1,000,000,000   150,000,000        
Preferred stock authorized (in shares)   20,000,000   20,000,000            
Outstanding shares of redeemable convertible preferred stock (in shares)   49,100,928 0 0 49,100,928 49,100,928 49,100,928 49,100,928 49,100,928 49,100,928
Carrying value   $ 376,400 $ 0 $ 0 $ 376,404 $ 376,404 $ 376,404 $ 376,404 $ 376,404 $ 376,404
Number of common stock issued from conversion (in shares)   49,649,023                
Conversion of redeemable convertible preferred stock to common stock upon initial public offering   $ 29,000 $ 376,405              
Selling, general and administrative                    
Sale of Stock [Line Items]                    
IPO Bonus       9,100            
Research and development                    
Sale of Stock [Line Items]                    
IPO Bonus       $ 400            
IPO                    
Sale of Stock [Line Items]                    
Number of common stock issued in transaction (in shares) 25,807,000                  
Aggregate net proceeds $ 91,000                  
Underwriting commissions, discounts, and offering costs $ 6,700                  
IPO - Sold by Company                    
Sale of Stock [Line Items]                    
Number of common stock issued in transaction (in shares) 6,451,613                  
IPO - Sold by Existing Shareholders                    
Sale of Stock [Line Items]                    
Number of common stock issued in transaction (in shares) 19,355,387                  
IPO - Other Offering Expense                    
Sale of Stock [Line Items]                    
Underwriting commissions, discounts, and offering costs $ 5,500                  
Over-Allotment Option                    
Sale of Stock [Line Items]                    
Number of common stock issued in transaction (in shares) 3,871,050                  
Option to purchase additional shares, period 30 days