Unaudited Condensed Consolidated Statements of Convertible Preferred Stock and Stockholders' Equity (Deficit) - USD ($) $ in Thousands | Total | Series D-2 Convertible Preferred Stock | Convertible Preferred Stock | Series C Convertible Preferred Stock | Common Stock | Additional Paid-in Capital | Accumulated Deficit |
Beginning Balance at Dec. 31, 2019 | $ (36,968) | | | | | $ 483 | $ (37,451) |
Temporary Equity, Balance, shares at Dec. 31, 2019 | | | 58,145,867 | | | | |
Temporary Equity, Balance at Dec. 31, 2019 | | | $ 43,740 | | | | |
Balance, shares at Dec. 31, 2019 | | | | | 1,351,380 | | |
Issuance of convertible preferred stock for cash, net of issuance costs | | | | $ 28,001 | | | |
Issuance of convertible preferred stock for cash, net of issuance costs, shares | | | | 28,063,500 | | | |
Convertible preferred stock issuance costs | | | | $ (62) | | | |
Vesting of common shares issued to founders, shares | | | | | 18,281 | | |
Issuance of common stock upon exercise of stock options | 12 | | | | | 12 | |
Issuance of common stock upon exercise of stock options, shares | | | | | 23,750 | | |
Vesting of early exercised stock options | 3 | | | | | 3 | |
Vesting of early exercised stock options, shares | | | | | 8,800 | | |
Stock-based compensation | 147 | | | | | 147 | |
Net loss | (13,128) | | | | | | (13,128) |
Ending Balance at Mar. 31, 2020 | (49,934) | | | | | 645 | (50,579) |
Temporary Equity, Balance, shares at Mar. 31, 2020 | | | 86,209,367 | | | | |
Temporary Equity, Balance at Mar. 31, 2020 | | | $ 71,741 | | | | |
Balance, shares at Mar. 31, 2020 | | | | | 1,402,211 | | |
Beginning Balance at Dec. 31, 2019 | (36,968) | | | | | 483 | (37,451) |
Temporary Equity, Balance, shares at Dec. 31, 2019 | | | 58,145,867 | | | | |
Temporary Equity, Balance at Dec. 31, 2019 | | | $ 43,740 | | | | |
Balance, shares at Dec. 31, 2019 | | | | | 1,351,380 | | |
Net loss | (28,515) | | | | | | |
Ending Balance at Sep. 30, 2020 | (64,785) | | | | | 1,181 | (65,966) |
Temporary Equity, Balance, shares at Sep. 30, 2020 | | | 94,709,367 | | | | |
Temporary Equity, Balance at Sep. 30, 2020 | | | $ 80,229 | | | | |
Balance, shares at Sep. 30, 2020 | | | | | 1,650,631 | | |
Beginning Balance at Mar. 31, 2020 | (49,934) | | | | | 645 | (50,579) |
Temporary Equity, Balance, shares at Mar. 31, 2020 | | | 86,209,367 | | | | |
Temporary Equity, Balance at Mar. 31, 2020 | | | $ 71,741 | | | | |
Balance, shares at Mar. 31, 2020 | | | | | 1,402,211 | | |
Issuance of Series C convertible preferred stock upon release of escrow of acquisition-related contingent consideration | | | | $ 3,500 | | | |
Issuance of Series C convertible preferred stock upon release of escrow of acquisition-related contingent consideration, shares | | | | 3,500,000 | | | |
Issuance of Series C convertible preferred stock for deferred purchase price | | | | $ 5,000 | | | |
Issuance of Series C convertible preferred stock for deferred purchase price, shares | | | | 5,000,000 | | | |
Convertible preferred stock issuance costs | | | | $ (12) | | | |
Vesting of common shares issued to founders, shares | | | | | 18,281 | | |
Issuance of common stock upon exercise of stock options | 48 | | | | | 48 | |
Issuance of common stock upon exercise of stock options, shares | | | | | 51,666 | | |
Vesting of early exercised stock options | 3 | | | | | 3 | |
Vesting of early exercised stock options, shares | | | | | 8,609 | | |
Stock-based compensation | 164 | | | | | 164 | |
Net loss | (8,440) | | | | | | (8,440) |
Ending Balance at Jun. 30, 2020 | (58,159) | | | | | 860 | (59,019) |
Temporary Equity, Balance, shares at Jun. 30, 2020 | | | 94,709,367 | | | | |
Temporary Equity, Balance at Jun. 30, 2020 | | | $ 80,229 | | | | |
Balance, shares at Jun. 30, 2020 | | | | | 1,480,767 | | |
Vesting of common shares issued to founders, shares | | | | | 12,188 | | |
Issuance of common stock in exchange / consulting services | 112 | | | | | 112 | |
Issuance of common stock in exchange / consulting services, shares | | | | | 36,200 | | |
Issuance of common stock upon exercise of stock options | 4 | | | | | 4 | |
Issuance of common stock upon exercise of stock options, shares | | | | | 1,200 | | |
Vesting of common shares issued for licensing rights | 1 | | | | | 1 | |
Vesting of common shares issued for licensing rights, shares | | | | | 111,667 | | |
Vesting of early exercised stock options | 2 | | | | | 2 | |
Vesting of early exercised stock options, shares | | | | | 8,609 | | |
Stock-based compensation | 202 | | | | | 202 | |
Net loss | (6,947) | | | | | | (6,947) |
Ending Balance at Sep. 30, 2020 | (64,785) | | | | | 1,181 | (65,966) |
Temporary Equity, Balance, shares at Sep. 30, 2020 | | | 94,709,367 | | | | |
Temporary Equity, Balance at Sep. 30, 2020 | | | $ 80,229 | | | | |
Balance, shares at Sep. 30, 2020 | | | | | 1,650,631 | | |
Beginning Balance at Dec. 31, 2020 | $ (97,541) | | | | | 1,605 | (99,146) |
Temporary Equity, Balance, shares at Dec. 31, 2020 | 160,864,434 | | 160,864,434 | | | | |
Temporary Equity, Balance at Dec. 31, 2020 | $ 126,023 | | $ 126,023 | | | | |
Balance, shares at Dec. 31, 2020 | 1,713,622 | | | | 1,713,622 | | |
Issuance of convertible preferred stock for cash, net of issuance costs | | $ 73,763 | | | | | |
Issuance of convertible preferred stock for cash, net of issuance costs, shares | | 86,775,740 | | | | | |
Convertible preferred stock issuance costs | | $ (94) | | | | | |
Issuance of Series D-2 convertible preferred stock for settlement of deferred purchase price | | $ 6,144 | | | | | |
Issuance of Series D-2 convertible preferred stock for settlement of deferred purchase price | | 7,219,560 | | | | | |
Reclassification of convertible preferred stock purchase right liability | | | $ 4,880 | | | | |
Conversion of convertible preferred stock into common stock at initial public offering | $ 210,810 | | | | $ 3 | 210,807 | |
Temporary Equity, Conversion of convertible preferred stock into common stock at initial public offering, shares | | | (254,859,734) | | | | |
Temporary Equity, Conversion of convertible preferred stock into common stock at initial public offering | | | $ (210,810) | | | | |
Conversion of convertible preferred stock into common stock at initial public offering, shares | | | | | 25,485,955 | | |
Issuance of shares of common stock in initial public offering for cash, net of issuance costs | 199,838 | | | | $ 1 | 199,837 | |
Issuance of shares of common stock in initial public offering for cash, net of issuance costs, shares | | | | | 11,500,000 | | |
Reclassification of convertible preferred stock warrants | 169 | | | | | 169 | |
Issuance of common stock in exchange / consulting services | 3 | | | | | 3 | |
Issuance of common stock in exchange / consulting services, shares | | | | | 500 | | |
Issuance costs related to initial public offering | | | | | $ 18,662 | | |
Issuance of common stock upon exercise of stock options | 64 | | | | | 64 | |
Issuance of common stock upon exercise of stock options, shares | | | | | 56,645 | | |
Vesting of early exercised stock options | 9 | | | | | 9 | |
Vesting of early exercised stock options, shares | | | | | 12,981 | | |
Stock-based compensation | 792 | | | | | 792 | |
Net loss | (13,945) | | | | | | (13,945) |
Ending Balance at Mar. 31, 2021 | 300,199 | | | | $ 4 | 413,286 | (113,091) |
Balance, shares at Mar. 31, 2021 | | | | | 38,769,703 | | |
Beginning Balance at Dec. 31, 2020 | $ (97,541) | | | | | 1,605 | (99,146) |
Temporary Equity, Balance, shares at Dec. 31, 2020 | 160,864,434 | | 160,864,434 | | | | |
Temporary Equity, Balance at Dec. 31, 2020 | $ 126,023 | | $ 126,023 | | | | |
Balance, shares at Dec. 31, 2020 | 1,713,622 | | | | 1,713,622 | | |
Issuance of common stock upon exercise of stock options, shares | 124,201 | | | | | | |
Net loss | $ (60,277) | | | | | | |
Ending Balance at Sep. 30, 2021 | $ 262,100 | | | | $ 4 | 421,519 | (159,423) |
Temporary Equity, Balance, shares at Sep. 30, 2021 | 0 | | | | | | |
Balance, shares at Sep. 30, 2021 | 38,884,536 | | | | 38,884,536 | | |
Beginning Balance at Mar. 31, 2021 | $ 300,199 | | | | $ 4 | 413,286 | (113,091) |
Balance, shares at Mar. 31, 2021 | | | | | 38,769,703 | | |
Issuance costs related to initial public offering | (46) | | | | | (46) | |
Issuance of common stock upon exercise of stock options | 62 | | | | | 62 | |
Issuance of common stock upon exercise of stock options, shares | | | | | 54,561 | | |
Vesting of early exercised stock options | 9 | | | | | 9 | |
Vesting of early exercised stock options, shares | | | | | 10,803 | | |
Stock-based compensation | 1,203 | | | | | 1,203 | |
Net loss | (18,999) | | | | | | (18,999) |
Ending Balance at Jun. 30, 2021 | 282,428 | | | | $ 4 | 414,514 | (132,090) |
Balance, shares at Jun. 30, 2021 | | | | | 38,835,067 | | |
Issuance of common stock in exchange / consulting services | 715 | | | | | 715 | |
Issuance of common stock in exchange / consulting services, shares | | | | | 28,100 | | |
Issuance of common stock upon exercise of stock options | 33 | | | | | 33 | |
Issuance of common stock upon exercise of stock options, shares | | | | | 12,995 | | |
Vesting of early exercised stock options | 7 | | | | | 7 | |
Vesting of early exercised stock options, shares | | | | | 8,374 | | |
Stock-based compensation | 6,250 | | | | | 6,250 | |
Net loss | (27,333) | | | | | | (27,333) |
Ending Balance at Sep. 30, 2021 | $ 262,100 | | | | $ 4 | $ 421,519 | $ (159,423) |
Temporary Equity, Balance, shares at Sep. 30, 2021 | 0 | | | | | | |
Balance, shares at Sep. 30, 2021 | 38,884,536 | | | | 38,884,536 | | |