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Subsequent Events - Additional Information (Details) $ / shares in Units, $ in Thousands |  |  |  | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | --- | --- | --- | ---
Jul. 19, 2021 USD ($) $ / shares shares | Jul. 18, 2021 shares | Jul. 07, 2021 | Jun. 30, 2021 USD ($) $ / shares shares | Mar. 31, 2021 USD ($) | Jun. 30, 2020 USD ($) | Mar. 31, 2020 USD ($) | Jun. 30, 2021 USD ($) $ / shares shares | Jun. 30, 2020 USD ($) | Jul. 31, 2021 shares | Dec. 31, 2020 $ / shares shares
Subsequent Event [Line Items] |  |  |  |  |  |  |  |  |  |  |
Estimated offering costs | $ |  |  |  |  |  |  |  |  | $ 106 |  |
Common stock warrants, net exercised | $ |  |  |  | $ 196 | $ 11 | $ 7 | $ 1 |  |  |  |
Common stock, shares authorized |  |  |  | 21,831,000 |  |  |  | 21,831,000 |  |  | 21,831,000
Common stock, par value | $ / shares |  |  |  | $ 0.001 |  |  |  | $ 0.001 |  |  | $ 0.001
Common stock reserved for future issuance |  |  |  | 31,620,028 |  |  |  | 31,620,028 |  |  | 29,782,878
IPO |  |  |  |  |  |  |  |  |  |  |
Subsequent Event [Line Items] |  |  |  |  |  |  |  |  |  |  |
Estimated offering costs | $ |  |  |  |  |  |  |  | $ 3,300 |  |  |
Subsequent Event |  |  |  |  |  |  |  |  |  |  |
Subsequent Event [Line Items] |  |  |  |  |  |  |  |  |  |  |
Stock split, conversion ratio |  |  | 2 |  |  |  |  |  |  |  |
Proceeds, net of underwriting discounts and commissions | $ | $ 253,000 |  |  |  |  |  |  |  |  |  |
Stock issued upon conversion of convertible preferred shares |  | 25,534,404 |  |  |  |  |  |  |  |  |
Stock split, description |  |  | On July 7, 2021 the Company effected a 2-for-1 stock split of its issued and outstanding shares of common stock and a proportional adjustment to the existing conversion ratios for each series of the Company’s redeemable convertible preferred stock. |  |  |  |  |  |  |  |
Subsequent Event | 2021 Equity Incentive Plan |  |  |  |  |  |  |  |  |  |  |
Subsequent Event [Line Items] |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for future issuance |  |  |  |  |  |  |  |  |  | 5,200,000 |
Common stock granted upon pricing of IPO |  |  |  |  |  |  |  |  |  | 103,903 |
Subsequent Event | 2021 Employee Stock Purchase Plan |  |  |  |  |  |  |  |  |  |  |
Subsequent Event [Line Items] |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for future issuance |  |  |  |  |  |  |  |  |  | 850,000 |
Subsequent Event | IPO |  |  |  |  |  |  |  |  |  |  |
Subsequent Event [Line Items] |  |  |  |  |  |  |  |  |  |  |
Sale of stock, price per share | $ / shares | $ 24.00 |  |  |  |  |  |  |  |  |  |
Proceeds, net of underwriting discounts and commissions | $ | $ 253,000 |  |  |  |  |  |  |  |  |  |
Warrants to purchase common stock | 659,028 |  |  |  |  |  |  |  |  |  |
Underwriting discounts and commissions | $ | $ 19,300 |  |  |  |  |  |  |  |  |  |
Estimated offering costs | $ | $ 3,700 |  |  |  |  |  |  |  |  |  |
Common stock, shares authorized | 200,000,000 |  |  |  |  |  |  |  |  |  |
Common stock, par value | $ / shares | $ 0.001 |  |  |  |  |  |  |  |  |  |
Preferred stock, shares authorized | 10,000,000 |  |  |  |  |  |  |  |  |  |
Preferred stock par value | $ / shares | $ 0.001 |  |  |  |  |  |  |  |  |  |
Subsequent Event | IPO | Common Stock |  |  |  |  |  |  |  |  |  |  |
Subsequent Event [Line Items] |  |  |  |  |  |  |  |  |  |  |
Number of shares sold | 10,000,000 |  |  |  |  |  |  |  |  |  |
Sale of stock, price per share | $ / shares | $ 24.00 |  |  |  |  |  |  |  |  |  |
Subsequent Event | Underwriters' Option | Common Stock |  |  |  |  |  |  |  |  |  |  |
Subsequent Event [Line Items] |  |  |  |  |  |  |  |  |  |  |
Number of shares sold | 1,500,000 |  |  |  |  |  |  |  |  |  |

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