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Redeemable Convertible Preferred Stock - Schedule of Redeemable Convertible Preferred Stock (Details) - USD ($) $ in Thousands	Jun. 30, 2021	Mar. 31, 2021	Dec. 31, 2020	Jun. 30, 2020	Mar. 31, 2020	Dec. 31, 2019
Increase (Decrease) in Temporary Equity [Roll Forward]
Shares authorized (in shares)	178,967,000		178,967,000
Shares outstanding (in shares)	35,793,000	35,793,000	35,793,000	31,755,000	31,755,000	31,755,000
Liquidation Amount	$ 161,134		$ 161,134
Carrying Value	$ 160,851	$ 160,826	$ 160,800	$ 100,819	$ 100,797	$ 100,774
Series A redeemable convertible preferred stock
Increase (Decrease) in Temporary Equity [Roll Forward]
Shares authorized (in shares)	20,000,000
Shares outstanding (in shares)	4,000,000
Liquidation Amount	$ 2,000
Carrying Value	$ 1,988
Series B redeemable convertible preferred stock
Increase (Decrease) in Temporary Equity [Roll Forward]
Shares authorized (in shares)	31,666,660
Shares outstanding (in shares)	6,333,332
Liquidation Amount	$ 10,450
Carrying Value	$ 10,424
Series C redeemable convertible preferred stock
Increase (Decrease) in Temporary Equity [Roll Forward]
Shares authorized (in shares)	48,914,230
Shares outstanding (in shares)	9,782,845
Liquidation Amount	$ 18,575
Carrying Value	$ 18,547
Series D redeemable convertible preferred stock
Increase (Decrease) in Temporary Equity [Roll Forward]
Shares authorized (in shares)	33,281,620
Shares outstanding (in shares)	6,656,323
Liquidation Amount	$ 20,109
Carrying Value	$ 20,069
Series E redeemable convertible preferred stock
Increase (Decrease) in Temporary Equity [Roll Forward]
Shares authorized (in shares)	24,911,563
Shares outstanding (in shares)	4,982,311
Liquidation Amount	$ 50,000
Carrying Value	$ 49,879
Series F redeemable convertible preferred stock
Increase (Decrease) in Temporary Equity [Roll Forward]
Shares authorized (in shares)	20,193,371
Shares outstanding (in shares)	4,038,672
Liquidation Amount	$ 60,000
Carrying Value	$ 59,944

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Carrying amount, attributable to parent, of an entity's issued and outstanding stock which is not included within permanent equity. Temporary equity is a security with redemption features that are outside the control of the issuer, is not classified as an asset or liability in conformity with GAAP, and is not mandatorily redeemable. Includes any type of security that is redeemable at a fixed or determinable price or on a fixed or determinable date or dates, is redeemable at the option of the holder, or has conditions for redemption which are not solely within the control of the issuer. Includes stock with a put option held by an ESOP and stock redeemable by a holder only in the event of a change in control of the issuer.

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The aggregate liquidation preference (or restrictions) of stock classified as temporary equity that has a preference in involuntary liquidation considerably in excess of the par or stated value of the shares. The liquidation preference is the difference between the preference in liquidation and the par or stated values of the share. Temporary equity is a security with redemption features that are outside the control of the issuer, is not classified as an asset or liability in conformity with GAAP, and is not mandatorily redeemable. Includes any type of security that is redeemable at a fixed or determinable price or on a fixed or determinable date or dates, is redeemable at the option of the holder, or has conditions for redemption which are not solely within the control of the issuer. If convertible, the issuer does not control the actions or events necessary to issue the maximum number of shares that could be required to be delivered under the conversion option if the holder exercises the option to convert the stock to another class of equity. If the security is a warrant or a rights issue, the warrant or rights issue is considered to be temporary equity if the issuer cannot demonstrate that it would be able to deliver upon the exercise of the option by the holder in all cases. Includes stock with put option held by ESOP and stock redeemable by holder only in the event of a change in control of the issuer.

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