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Fair Value of Financial Assets and Liabilities - Additional Information (Details)
$ / shares in Units, $ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2021
USD ($)
Warrant
$ / shares
shares
Dec. 31, 2020
USD ($)
Jun. 23, 2020
$ / shares
shares
Warrant      
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]      
Warrant outstanding 0    
Number of warrants issued to purchase common stock | shares     70,133
Warrants exercise price, per share | $ / shares | $ / shares     $ 5.13
Series B-3 Convertible Preferred Stock | Warrant      
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]      
Number of warrants issued to purchase common stock | shares 70,133    
Warrants exercise price, per share | $ / shares | $ / shares $ 5.13    
IPO [Member] | Series B-3 Convertible Preferred Stock | Warrant      
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]      
Number of warrants to purchase | Warrant 3    
Convertible preferred stock warrant purchased 299,999    
Exercise price per share | $ / shares $ 1.20    
Significant Unobservable Inputs (Level 3)      
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]      
Transfers into out of Level 3 | $ $ 0 $ 0