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Convertible Preferred Stock (Details) - Convertible Preferred Stock - shares
Sep. 30, 2021
Dec. 31, 2020
Sep. 30, 2020
Jun. 30, 2020
Dec. 31, 2019
Convertible Preferred Stock          
Convertible preferred stock, outstanding (in shares) 0 0 23,765,075 16,067,762 4,628,215
Number of common stock issued upon conversion 1