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Common Stock - Reserved Common Stock for Future Issuances (Details) - shares | Jun. 30, 2021 | Dec. 31, 2020
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Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Common stock reserved for future issuance | 31,620,028 | 29,782,878
Series A Redeemable Convertible Preferred Stock |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Common stock reserved for future issuance | 7,608,688 | 7,608,688
Series B Redeemable Convertible Preferred Stock |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Common stock reserved for future issuance | 2,419,242 | 2,419,242
Series C Redeemable Convertible Preferred Stock and Warrants |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Common stock reserved for future issuance | 4,744,742 | 4,744,742
Series D Redeemable Convertible Preferred Stock |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Common stock reserved for future issuance | 4,895,636 | 4,895,636
Series E Redeemable Convertible Preferred Stock |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Common stock reserved for future issuance | 3,799,694 | 3,799,694
Series F Redeemable Convertible Preferred Stock and Warrants |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Common stock reserved for future issuance | 2,725,430 | 2,725,430
Exercise of Options under Stock Plan |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Common stock reserved for future issuance | 5,185,736 | 3,137,776
Issuance of Options under Plan |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Common stock reserved for future issuance | 240,860 | 451,670

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