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Stock Option Plan - Stock Option Activity (Details) - Stock options $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2021 USD ($) $ / shares shares	Dec. 31, 2020 USD ($) $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Outstanding, December 31, 2020 (in shares) | shares	1,975,761
Granted (in shares) | shares	214,850
Exercised (in shares) | shares	(9,436)
Forfeited (in shares) | shares	(54,766)
Expired (in shares) | shares	(2,792)
Outstanding, June 30, 2021 (in shares) | shares	2,123,617	1,975,761
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Outstanding, December 31, 2020, Weighted Average Exercise Price (in dollars per share) | $ / shares	$ 11.81
Granted, Weighted Average Exercise Price (in dollars per share) | $ / shares	17.11
Exercised, Weighted Average Exercise Price (in dollars per share) | $ / shares	8.41
Forfeited, Weighted Average Exercise Price (in dollars per share) | $ / shares	12.12
Expired, Weighted Average Exercise Price (in dollars per share) | $ / shares	26.27
Outstanding, June 30, 2021, Weighted Average Exercise Price (in dollars per share) | $ / shares	$ 12.33	$ 11.81
Stock Options, Additional Disclosures [Abstract]
Outstanding, Weighted Average Remaining Contractual Term	7 years 11 months 15 days	8 years 8 months 15 days
Vested and expected to vest, Weighted Average Remaining Contractual Term	7 years 11 months 15 days
Options exercisable, Weighted Average Remaining Contractual Term	7 years 5 months 19 days
Outstanding, Aggregate Intrinsic Value | $	$ 8,932	$ 6,750
Vested and expected to vest, Aggregate Intrinsic Value | $	8,932
Options exercisable, Aggregate Intrinsic Value | $	$ 5,125
Vested and expected to vest, June 30, 2021 (in shares) | shares	2,123,617
Options exercisable, June 30, 2021 (in Shares) | shares	812,611
Vested and expected to vest, June 30, 2021, Weighted Average Exercise Price (in dollars per share) | $ / shares	$ 12.33
Options exercised, June 30, 2021, Weighted Average Exercise Price (in dollars per share) | $ / shares	$ 10.04

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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