Stockholders' Equity - Additional Information (Details)						1 Months Ended	3 Months Ended	9 Months Ended		12 Months Ended
	May 21, 2020 USD ($) $ / shares shares	Sep. 06, 2018 $ / shares shares	May 21, 2018 $ / shares shares	Jan. 04, 2018 USD ($)	Dec. 03, 2015 USD ($) $ / shares shares	Nov. 30, 2017 shares	Jun. 30, 2020 USD ($)	Sep. 30, 2021 USD ($) vote $ / shares shares	Sep. 30, 2020 USD ($)	Dec. 31, 2020 $ / shares shares
Stockholders Equity [Line Items]
Common stock number of votes per share | vote								1
Issuance of common stock in connection with public offering, net of underwriting discounts, commissions, and offering costs (in shares)	9,433,963
Offering price (in dollars per share) | $ / shares	$ 13.25
Proceeds from issuance of common stock in a public offering, net | $	$ 117,100,000							$ 0	$ 117,110,000
Common stock, par value (in dollars per share) | $ / shares								$ 0.0001		$ 0.0001
Issuance of common stock in connection with a public offering net of underwriting discounts, commissions and offering costs | $							$ 117,094,000
Shares of common stock, repurchase (in shares)								925,208		1,649,348
Stock Restriction Agreements
Stockholders Equity [Line Items]
Shares subject to forfeiture (in shares)								25,389		441,801
Series A Convertible Preferred Stock | Stock Restriction Agreements
Stockholders Equity [Line Items]
Shares subject to forfeiture (in shares)						1,305,427
Founder
Stockholders Equity [Line Items]
Issuance of common stock in connection with public offering, net of underwriting discounts, commissions, and offering costs (in shares)		1,795,023	251,547
Percentage of fully diluted share capital				15.00%
Increased in equity capital amount | $				$ 300,000,000
Common stock issued price per share (in USD per share) | $ / shares		$ 9.63	$ 2.61
Additional shares of restricted stock subject to vesting restrictions (in shares)		1,795,023	251,547
Founder Shares
Stockholders Equity [Line Items]
Issuance of common stock in connection with public offering, net of underwriting discounts, commissions, and offering costs (in shares)					9,160,888
Common stock, par value (in dollars per share) | $ / shares					$ 0.0001
Issuance of common stock in connection with a public offering net of underwriting discounts, commissions and offering costs | $					$ 4,100
Common Stock vesting percentage				50.00%
Common stock vesting period (in years)				5 years