Stockholders'/Members' Equity (Deficit)- Schedule of Common Stock Reserved for Future Issuance (Details) - shares	9 Months Ended	12 Months Ended
	Sep. 30, 2021	Dec. 31, 2020	Jul. 31, 2020
Class Of Stock [Line Items]
Warrants for the purchase of common stock	717,674	717,674
Common stock, shares issued (in shares)	35,190,428	32,171,560	6,220,050
Total number of common shares reserved for issuance	7,437,939	6,122,181
Restricted Stock Units and Stock Options
Class Of Stock [Line Items]
Common stock, shares issued (in shares)	2,553,198	2,535,143
2020 Plan [Member]
Class Of Stock [Line Items]
Total number of common shares reserved for issuance	3,338,354	2,404,535
Employees Stock Purchase Plan [Member]
Class Of Stock [Line Items]
Common stock, shares issued (in shares)	5,280
Total number of common shares reserved for issuance	828,713	464,829