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Stock-Based Compensation - Summary of Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]    
Options Outstanding, Number of Options, Shares, Beginning Balance | shares 1,570,728  
Options Outstanding, Number of Options, Exercised, Shares | shares (1,011,422)  
Options Outstanding, Number of Options, Cancelled, Shares | shares (36,329)  
Options Outstanding, Number of Options, Shares, Ending Balance | shares 522,977 1,570,728
Options Outstanding, Number of Options Exercisable, Shares, as of September 30, 2021 | shares 495,412  
Options Outstanding, Number of Options, Vested and expected to vest, Shares as of September 30, 2021 | shares 522,977  
Options Outstanding, Weighted Average Exercise Price, Beginning Balance | $ / shares $ 9.09  
Options Outstanding, Weighted Average Exercise Price, Exercised | $ / shares 9.00  
Options Outstanding, Weighted Average Exercise Price, Cancelled | $ / shares 9.17  
Options Outstanding, Weighted Average Exercise Price, Ending Balance | $ / shares 9.25 $ 9.09
Options Outstanding, Weighted Average Exercise Price, Exercisable as of September 30, 2021 | $ / shares 9.23  
Options Outstanding, Weighted Average Exercise Price, Vested and expected to vest as of September 30, 2021 | $ / shares $ 9.25  
Options Outstanding, Weighted Average Remaining Contractual Life (Years) 7 years 21 days 7 years 8 months 15 days
Options Outstanding, Weighted Average Remaining Contractual Life (Years), Exercisable as of September 30, 2021 7 years 14 days  
Options Outstanding, Weighted Average Remaining Contractual Life (Years), Vested and expected to vest as of September 30, 2021 7 years 21 days  
Options Outstanding, Aggregate Intrinsic Value, Beginning Balance | $ $ 12,756  
Options Outstanding, Aggregate Intrinsic Value, Ending Balance | $ 25,971 $ 12,756
Options Outstanding, Aggregate Intrinsic Value, Exercisable as of September 30, 2021 | $ 25,971  
Options Outstanding, Aggregate Intrinsic Value, Vested and expected to vest as of September 30, 2021 | $ $ 25,971