Stockholders' Equity - Current Capitalization (Details)	Sep. 30, 2021 votePerShare $ / shares shares	Dec. 31, 2020 $ / shares shares
Equity [Abstract]
Preferred stock, shares authorized (in shares)	10,000,000	10,000,000
Preferred stock, par value (in dollars per share) | $ / shares	$ 0.0001	$ 0.0001
Preferred stock, shares issued (in shares)	0	0
Preferred stock, shares outstanding (in shares)	0	0
Common stock, shares authorized (in shares)	200,000,000	200,000,000
Common stock, par value (in dollars per share) | $ / shares	$ 0.0001	$ 0.0001
Common stock, shares issued (in shares)	88,108,543	87,651,352
Common stock, shares outstanding (in shares)	88,108,543	87,651,352
Common stock, voting rights for each share | votePerShare	1