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Stock-Based Awards - Summary of Assumptions Used for Estimating the Fair Value of Stock Options Granted (Details) - Stock Options
9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Volatility, minimum 62.20% 65.20%
Volatility, maximum 63.70% 67.10%
Risk-free interest rate, minimum 0.50% 0.30%
Risk-free interest rate, maximum 1.20% 1.70%
Dividend yield 0.00% 0.00%
Minimum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expected term (in years) 5 years 6 months 5 years 6 months
Maximum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expected term (in years) 6 years 29 days 6 years 29 days