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Redeemable Convertible Preferred Stock Warrants - Calculation Assumption of Fair Value of Warrants Using Black-Scholes Option Pricing Model (Details) - 2019 Warrants | Jun. 30, 2021 | Dec. 31, 2020 | Jan. 31, 2019
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Class Of Warrant Or Right [Line Items] |  |  |
Warrants term (in years) | 7 years 9 months 18 days |  |
Measurement Input Expected Term |  |  |
Class Of Warrant Or Right [Line Items] |  |  |
Warrants term (in years) |  |  | 10 years
Measurement Input Expected Term | Minimum |  |  |
Class Of Warrant Or Right [Line Items] |  |  |
Warrants term (in years) |  | 8 years 1 month 6 days |
Measurement Input Expected Term | Maximum |  |  |
Class Of Warrant Or Right [Line Items] |  |  |
Warrants term (in years) |  | 8 years 6 months |
Measurement Input Price Volatility |  |  |
Class Of Warrant Or Right [Line Items] |  |  |
Alternative investment, measurement input |  |  | 0.5095
Measurement Input Price Volatility | Minimum |  |  |
Class Of Warrant Or Right [Line Items] |  |  |
Alternative investment, measurement input |  | 0.4218 |
Measurement Input Price Volatility | Maximum |  |  |
Class Of Warrant Or Right [Line Items] |  |  |
Alternative investment, measurement input |  | 0.4263 |
Measurement Input Risk Free Interest Rate |  |  |
Class Of Warrant Or Right [Line Items] |  |  |
Alternative investment, measurement input |  |  | 0.0299
Measurement Input Risk Free Interest Rate | Minimum |  |  |
Class Of Warrant Or Right [Line Items] |  |  |
Alternative investment, measurement input |  | 0.0233 |
Measurement Input Risk Free Interest Rate | Maximum |  |  |
Class Of Warrant Or Right [Line Items] |  |  |
Alternative investment, measurement input |  | 0.0249 |
Measurement Input Expected Dividend Rate |  |  |
Class Of Warrant Or Right [Line Items] |  |  |
Alternative investment, measurement input |  |  | 0

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