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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