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Stock-based Compensation - Summary of Stock Options Activity (Details)
9 Months Ended
Sep. 30, 2021
shares
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]  
Number of Shares Available for Grant,Balances at December 31, 2020 2,606,546
Number of Shares Available for Grant, Options authorized 1,334,099
Number of Shares Available for Grant, Options granted (1,424,350)
Number of Shares Available for Grant, Options expired 354
Number of Shares Available for Grant, Options forfeited 91,976
Number of Shares Available for Grant, Balances at September 30, 2021 2,608,625
Number of Shares Underlying Outstanding Options, Balances at December 31, 2020 3,194,113
Number of Shares Underlying Outstanding Options, granted 1,424,350
Number of Shares Underlying Outstanding Options, exercised (443,594)
Number of Shares Underlying Outstanding Options, expired (354)
Number of Shares Underlying Outstanding Options, forfeited (91,976)
Number of Shares Underlying Outstanding Options, Balances at September 30, 2021 4,082,539
Number of Shares Underlying Outstanding Options, Options exercisable at September 30, 2021 1,379,288
Number of Shares Underlying Outstanding Options, Options vested and expected to vest at September 30, 2021 4,082,539