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Stockholders'/Members' Equity (Deficit) - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Outstanding, Beginning Balance, Weighted-Average Exercise Price per Share $ 18.00  
Outstanding, Ending Balance, Weighted-Average Exercise Price per Share | $ / shares   $ 18.00
Outstanding, Weighted-Average Remaining Contractual Term (years) 9 years 4 months 20 days 9 years 11 months 12 days
Vested and expected to vest, Weighted-Average Remaining Contractual Term (years) 9 years 4 months 20 days  
Equity Option [Member]    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock Options Outstanding, Beginning Balance, Number of Shares 615,106  
Granted, Number of Shares 353,043  
Exercised, Number of shares (7,747)  
Stock Options Outstanding, Ending Balance, Number of Shares 960,402 615,106
Vested and expected to vest, Number of Shares 960,402  
Granted, Weighted-Average Exercise Price per Share $ 42.21  
Exercisable, Weighted-Average Exercise Price per Share 18.00  
Outstanding, Ending Balance, Weighted-Average Exercise Price per Share | $ / shares 26.83  
Vested and expected to vest, Weighted-Average Exercise Price per Share $ 26.83  
Outstanding, Aggregate Intrinsic Value at Dec 31,2020 $ 9,848  
Outstanding, Aggregate Intrinsic Value at September 30, 2021 6,948 $ 9,848
Vested and expected to vest, Aggregate Intrinsic Value $ 6,948