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Redeemable Convertible Preferred Stock Warrants - Additional Information (Details) $ / shares in Units, $ in Millions | Jun. 30, 2021 USD ($) shares | Dec. 31, 2020 USD ($) | Nov. 30, 2020 USD ($) $ / shares shares | Nov. 30, 2019 shares | Jan. 31, 2019 USD ($) $ / shares shares
--- | --- | --- | --- | --- | ---
2019 Warrants |  |  |  |  |
Class Of Warrant Or Right [Line Items] |  |  |  |  |
Warrants fair value | $ | $ 1.0 | $ 0.3 |  |  | $ 0.2
Warrant term | 7 years 9 months 18 days |  |  |  |
2019 Warrants | Measurement Input Expected Term |  |  |  |  |
Class Of Warrant Or Right [Line Items] |  |  |  |  |
Warrant term |  |  |  |  | 10 years
2019 Warrants | Measurement Input Risk Free Interest Rate |  |  |  |  |
Class Of Warrant Or Right [Line Items] |  |  |  |  |
Alternative investment, measurement input |  |  |  |  | 0.0299
2019 Warrants | Measurement Input Price Volatility |  |  |  |  |
Class Of Warrant Or Right [Line Items] |  |  |  |  |
Alternative investment, measurement input |  |  |  |  | 0.5095
2019 Warrants | Measurement Input Expected Dividend Rate |  |  |  |  |
Class Of Warrant Or Right [Line Items] |  |  |  |  |
Alternative investment, measurement input |  |  |  |  | 0
2020 Warrants |  |  |  |  |
Class Of Warrant Or Right [Line Items] |  |  |  |  |
Warrants fair value | $ | $ 6.0 | $ 1.8 | $ 1.8 |  |
Warrant term | 9 years 4 months 24 days |  |  |  |
Series C Redeemable Convertible Preferred Stock | 2019 Warrants |  |  |  |  |
Class Of Warrant Or Right [Line Items] |  |  |  |  |
Additional warrants issued expired | 12,649 |  |  |  |
Series C Redeemable Convertible Preferred Stock | 2019 Warrants | Funding of Tranche 1 and Tranche 2 under 2019 Term Loan |  |  |  |  |
Class Of Warrant Or Right [Line Items] |  |  |  |  |
Warrants to purchase shares of stock |  |  |  |  | 29,514
Class of warrant exercise price | $ / shares |  |  |  |  | $ 9.49
Warrant term |  |  |  |  | 10 years
Series C Redeemable Convertible Preferred Stock | 2019 Warrants | Funding of 2019 Term Loan Tranche 3 |  |  |  |  |
Class Of Warrant Or Right [Line Items] |  |  |  |  |
Warrants to purchase shares of stock |  |  |  | 12,649 |
Series F Redeemable Convertible Preferred Stock | 2020 Warrants |  |  |  |  |
Class Of Warrant Or Right [Line Items] |  |  |  |  |
Warrants to purchase shares of stock |  |  | 300,000 |  |
Class of warrant exercise price | $ / shares |  |  | $ 21.88 |  |
Warrant term |  |  | 10 years |  |

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