Condensed Consolidated Statements of Redeemable Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($) | Total | Redeemable Convertible Preferred Stock [Member] | Series D Redeemable Convertible Preferred Stock [Member] | Common Stock [Member] | Additional Paid-in Capital [Member] | Accumulated Other Comprehensive Loss [Member] | Accumulated Deficit [Member] |
Beginning Balance, Values at Dec. 31, 2019 | | $ 143,984,000 | | | | | |
Beginning Balance, Shares at Dec. 31, 2019 | | 111,748,065 | | | | | |
Beginning Balance, Shares at Dec. 31, 2019 | | | | 433,749 | | | |
Beginning Balance, Values at Dec. 31, 2019 | $ (100,454,000) | | | $ 4,000 | $ 2,202,000 | $ (80,000) | $ (102,580,000) |
Accretion on redeemable convertible preferred stock | | $ 279,000 | | | | | |
Accretion on redeemable convertible preferred stock | (279,000) | | | | (279,000) | | |
Stock-based compensation | 663,000 | | | | 663,000 | | |
Foreign currency translation adjustment | (11,000) | | | | | (11,000) | |
Net loss | (12,341,000) | | | | | | (12,341,000) |
Ending Balance, Values at Mar. 31, 2020 | | $ 144,263,000 | | | | | |
Ending Balance, Shares at Mar. 31, 2020 | | 111,748,065 | | | | | |
Ending Balance, Values at Mar. 31, 2020 | (112,422,000) | | | $ 4,000 | 2,586,000 | (91,000) | (114,921,000) |
Ending Balance, Shares at Mar. 31, 2020 | | | | 433,749 | | | |
Beginning Balance, Values at Dec. 31, 2019 | | $ 143,984,000 | | | | | |
Beginning Balance, Shares at Dec. 31, 2019 | | 111,748,065 | | | | | |
Beginning Balance, Shares at Dec. 31, 2019 | | | | 433,749 | | | |
Beginning Balance, Values at Dec. 31, 2019 | (100,454,000) | | | $ 4,000 | 2,202,000 | (80,000) | (102,580,000) |
Conversion of redeemable convertible preferred stock to common stock upon initial public offering | 6,297,000 | | | | | | |
Foreign currency translation adjustment | 2,000 | | | | | | |
Net loss | (40,219,000) | | | | | | |
Ending Balance, Values at Sep. 30, 2020 | 365,479,000 | | | $ 38,000 | 508,318,000 | (78,000) | (142,799,000) |
Ending Balance, Shares at Sep. 30, 2020 | | | | 38,157,618 | | | |
Beginning Balance, Values at Mar. 31, 2020 | | $ 144,263,000 | | | | | |
Beginning Balance, Shares at Mar. 31, 2020 | | 111,748,065 | | | | | |
Beginning Balance, Shares at Mar. 31, 2020 | | | | 433,749 | | | |
Beginning Balance, Values at Mar. 31, 2020 | (112,422,000) | | | $ 4,000 | 2,586,000 | (91,000) | (114,921,000) |
Issuance of redeemable convertible preferred stock, net of issuance costs | | | $ 96,807,000 | | | | |
Issuance of redeemable convertible preferred stock, net of issuance costs and value of redeemable convertible preferred stock liability, Shares | | | 71,719,859 | | | | |
Beneficial conversion feature on Series D redeemable convertible preferred stock | | | $ (6,297,000) | | | | |
Beneficial conversion feature on Series D redeemable convertible preferred stock | 6,297,000 | | | | 6,297,000 | | |
Accretion on redeemable convertible preferred stock | | $ 281,000 | | | | | |
Accretion on redeemable convertible preferred stock | (281,000) | | | | (281,000) | | |
Stock-based compensation | 763,000 | | | | 763,000 | | |
Foreign currency translation adjustment | 9,000 | | | | | 9,000 | |
Net loss | (12,240,000) | | | | | | (12,240,000) |
Ending Balance, Values at Jun. 30, 2020 | | $ 235,054,000 | | | | | |
Ending Balance, Shares at Jun. 30, 2020 | | 183,467,924 | | | | | |
Ending Balance, Values at Jun. 30, 2020 | (117,874,000) | | | $ 4,000 | 9,365,000 | (82,000) | (127,161,000) |
Ending Balance, Shares at Jun. 30, 2020 | | | | 433,749 | | | |
Conversion of redeemable convertible preferred stock to common stock upon initial public offering | | $ (241,418,000) | | | | | |
Conversion of redeemable convertible preferred stock to common stock upon initial public offering, Shares | | (183,467,924) | | | | | |
Conversion of redeemable convertible preferred stock to common stock upon initial public offering | 241,418,000 | | | $ 21,000 | 241,397,000 | | |
Conversion of redeemable convertible preferred stock to common stock upon initial public offering, Shares | | | | 20,824,938 | | | |
Deemed dividend of beneficial conversion feature on conversion of redeemable convertible preferred stock | | $ 6,219,000 | | | | | |
Deemed dividend of beneficial conversion feature on conversion of redeemable convertible preferred stock | (6,219,000) | | | | (6,219,000) | | |
Accretion on redeemable convertible preferred stock | | $ 145,000 | | | | | |
Accretion on redeemable convertible preferred stock | (145,000) | | | | (145,000) | | |
Issuance of common stock in connection with initial public offering, net of issuance costs of $24.7 million | 262,440,000 | | | $ 13,000 | 262,427,000 | | |
Issuance of common stock in connection with initial public offering, net of issuance costs of $24.7 million, Shares | | | | 16,889,403 | | | |
Stock-based compensation | 1,471,000 | | | | 1,471,000 | | |
Stock option exercises | 22,000 | | | | 22,000 | | |
Stock option exercises, Shares | | | | 9,528 | | | |
Foreign currency translation adjustment | 4,000 | | | | | 4,000 | |
Net loss | (15,638,000) | | | | | | (15,638,000) |
Ending Balance, Values at Sep. 30, 2020 | 365,479,000 | | | $ 38,000 | 508,318,000 | (78,000) | (142,799,000) |
Ending Balance, Shares at Sep. 30, 2020 | | | | 38,157,618 | | | |
Beginning Balance, Shares at Dec. 31, 2020 | | | | 38,157,618 | | | |
Beginning Balance, Values at Dec. 31, 2020 | 344,278,000 | | | $ 38,000 | 510,309,000 | (77,000) | (165,992,000) |
Stock-based compensation | 2,962,000 | | | | 2,962,000 | | |
Stock option exercises | 268,000 | | | | 268,000 | | |
Stock option exercises, Shares | | | | 74,930 | | | |
Foreign currency translation adjustment | 18,000 | | | | | 18,000 | |
Unrealized gain (loss) on available-for-sale securities | (24,000) | | | | | (24,000) | |
Net loss | (26,060,000) | | | | | | (26,060,000) |
Ending Balance, Values at Mar. 31, 2021 | 321,442,000 | | | $ 38,000 | 513,539,000 | (83,000) | (192,052,000) |
Ending Balance, Shares at Mar. 31, 2021 | | | | 38,232,548 | | | |
Beginning Balance, Shares at Dec. 31, 2020 | | | | 38,157,618 | | | |
Beginning Balance, Values at Dec. 31, 2020 | $ 344,278,000 | | | $ 38,000 | 510,309,000 | (77,000) | (165,992,000) |
Stock option exercises, Shares | 205,721 | | | | | | |
Foreign currency translation adjustment | $ (5,000) | | | | | | |
Unrealized gain (loss) on available-for-sale securities | 7,000 | | | | | | |
Net loss | (92,952,000) | | | | | | |
Ending Balance, Values at Sep. 30, 2021 | 264,477,000 | | | $ 38,000 | 523,458,000 | (75,000) | (258,944,000) |
Ending Balance, Shares at Sep. 30, 2021 | | | | 38,370,098 | | | |
Beginning Balance, Shares at Mar. 31, 2021 | | | | 38,232,548 | | | |
Beginning Balance, Values at Mar. 31, 2021 | 321,442,000 | | | $ 38,000 | 513,539,000 | (83,000) | (192,052,000) |
Stock-based compensation | 4,517,000 | | | | 4,517,000 | | |
Stock option exercises | 534,000 | | | | 534,000 | | |
Stock option exercises, Shares | | | | 82,805 | | | |
Issuance of common stock per ESPP purchase | 118,000 | | | | 118,000 | | |
Issuance of common stock per ESPP purchase, Shares | | | | 6,759 | | | |
Foreign currency translation adjustment | (20,000) | | | | | (20,000) | |
Unrealized gain (loss) on available-for-sale securities | 38,000 | | | | | 38,000 | |
Net loss | (31,294,000) | | | | | | (31,294,000) |
Ending Balance, Values at Jun. 30, 2021 | 295,335,000 | | | $ 38,000 | 518,708,000 | (65,000) | (223,346,000) |
Ending Balance, Shares at Jun. 30, 2021 | | | | 38,322,112 | | | |
Stock-based compensation | 4,428,000 | | | | 4,428,000 | | |
Stock option exercises | 322,000 | | | | 322,000 | | |
Stock option exercises, Shares | | | | 47,986 | | | |
Foreign currency translation adjustment | (3,000) | | | | | (3,000) | |
Unrealized gain (loss) on available-for-sale securities | (7,000) | | | | | (7,000) | |
Net loss | (35,598,000) | | | | | | (35,598,000) |
Ending Balance, Values at Sep. 30, 2021 | $ 264,477,000 | | | $ 38,000 | $ 523,458,000 | $ (75,000) | $ (258,944,000) |
Ending Balance, Shares at Sep. 30, 2021 | | | | 38,370,098 | | | |