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Stock-Based Compensation - Summary of Information about Stock Options Outstanding (Details)
9 Months Ended
Sep. 30, 2021
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Options Outstanding, Number | shares 8,091,689
Options Exercisable, Number Exercisable | shares 2,094,067
$0.31 - $7.37  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Range of Exercise Prices, Minimum $ 0.31
Range of Exercise Prices, Maximum $ 7.37
Options Outstanding, Number | shares 2,938,521
Options Outstanding, Weighted Average Remaining Contractual Life (in years) 8 years
Options Outstanding, Weighted Average Exercise Price $ 1.81
Options Exercisable, Number Exercisable | shares 1,306,386
Options Exercisable, Weighted Average Exercise Price $ 1.76
$7.38 - $15.93  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Range of Exercise Prices, Minimum 7.38
Range of Exercise Prices, Maximum $ 15.93
Options Outstanding, Number | shares 2,842,233
Options Outstanding, Weighted Average Remaining Contractual Life (in years) 8 years 11 months 1 day
Options Outstanding, Weighted Average Exercise Price $ 12.85
Options Exercisable, Number Exercisable | shares 775,853
Options Exercisable, Weighted Average Exercise Price $ 12.85
$15.94 - $88.98  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Range of Exercise Prices, Minimum 15.94
Range of Exercise Prices, Maximum $ 88.98
Options Outstanding, Number | shares 2,310,935
Options Outstanding, Weighted Average Remaining Contractual Life (in years) 9 years 8 months 23 days
Options Outstanding, Weighted Average Exercise Price $ 35.46
Options Exercisable, Number Exercisable | shares 11,828
Options Exercisable, Weighted Average Exercise Price $ 42.61