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Subsequent Events - Impact of IPO on certain condensed balance sheet on proforma basis (Details) - USD ($) $ in Thousands | Jun. 30, 2021 | Mar. 31, 2021 | Dec. 31, 2020 | Jun. 30, 2020 | Mar. 31, 2020 | Dec. 31, 2019
--- | --- | --- | --- | --- | --- | ---
Subsequent Event [Line Items] |  |  |  |  |  |
Cash and cash equivalents | $ 59,150 |  | $ 4,573 |  |  |
Deferred offering costs | 3,000 |  | 0 |  |  |
Total stockholders' deficit | (21,578) | $ (16,115) | $ (13,344) | $ (7,268) | $ (5,072) | $ (3,643)
Initial Public Offering |  |  |  |  |  |
Subsequent Event [Line Items] |  |  |  |  |  |
Cash and cash equivalents | 59,150 |  |  |  |  |
Deferred offering costs | 3,016 |  |  |  |  |
Convertible preferred stock | 79,819 |  |  |  |  |
Additional paid-in capital | 407 |  |  |  |  |
Total stockholders' deficit | $ (21,578) |  |  |  |  |
Pro Forma | Initial Public Offering |  |  |  |  |  |
Subsequent Event [Line Items] |  |  |  |  |  |
Cash and cash equivalents |  |  |  | 186,150 |  |
Common stock |  |  |  | 2 |  |
Additional paid-in capital |  |  |  | 207,224 |  |
Total stockholders' deficit |  |  |  | $ 185,241 |  |

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