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Redeemable Convertible Preferred Stock - Summary of Redeemable Convertible Preferred Stock Issued and Outstanding (Details) - USD ($) $ / shares in Units, $ in Thousands	Jun. 30, 2021	Mar. 31, 2021	Dec. 31, 2020	Mar. 31, 2020	Dec. 31, 2019
Series A
Class Of Stock [Line Items]
Shares Authorized	3,804,344		3,804,344
Shares Issued	3,804,344		3,804,344
Shares Outstanding	3,804,344		3,804,344
Original Issuance Price	$ 1.38		$ 1.38
Liquidation Amount	$ 5,250		$ 5,250
Issuance Costs	9		9
Carrying Value	$ 5,241		$ 5,241
Series B
Class Of Stock [Line Items]
Shares Authorized	1,209,621		1,209,621
Shares Issued	1,209,621		1,209,621
Shares Outstanding	1,209,621		1,209,621
Original Issuance Price	$ 5.79		$ 5.79
Liquidation Amount	$ 7,000		$ 7,000
Issuance Costs	106		106
Carrying Value	$ 6,894		$ 6,894
Series C
Class Of Stock [Line Items]
Shares Authorized	2,372,371		2,372,371
Shares Issued	2,342,857		2,342,857
Shares Outstanding	2,342,857		2,342,857
Original Issuance Price	$ 9.49		$ 9.49
Liquidation Amount	$ 22,226		$ 22,226
Issuance Costs	208		208
Carrying Value	$ 22,018		$ 22,018
Series D
Class Of Stock [Line Items]
Shares Authorized	2,507,720		2,507,720
Shares Issued	2,447,818		2,447,818
Shares Outstanding	2,447,818		2,447,818
Original Issuance Price	$ 12.56		$ 12.56
Liquidation Amount	$ 30,750		$ 30,750
Issuance Costs	647		647
Carrying Value	$ 30,103		$ 30,103
Series E
Class Of Stock [Line Items]
Shares Authorized	1,921,902		1,921,902
Shares Issued	1,899,847		1,899,847
Shares Outstanding	1,899,847		1,899,847
Original Issuance Price	$ 15.87		$ 15.87
Liquidation Amount	$ 30,150		$ 30,150
Issuance Costs	106		106
Carrying Value	$ 30,044		$ 30,044
Series F
Class Of Stock [Line Items]
Shares Authorized	2,425,432		2,425,432
Shares Issued	1,062,715		1,062,715
Shares Outstanding	1,062,715		1,062,715
Original Issuance Price	$ 21.88		$ 21.88
Liquidation Amount	$ 23,250		$ 23,250
Issuance Costs	219		219
Carrying Value	$ 23,031		$ 23,031
Redeemable Convertible Preferred Stock
Class Of Stock [Line Items]
Shares Authorized	14,241,390		14,241,390
Shares Issued	12,767,202		12,767,202
Shares Outstanding	12,767,202	12,767,202	12,767,202	11,704,487	9,804,640
Liquidation Amount	$ 118,626		$ 118,626
Issuance Costs	1,295		1,295
Carrying Value	$ 117,331	$ 117,331	$ 117,331	$ 94,311	$ 64,256

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Carrying amount, attributable to parent, of an entity's issued and outstanding stock which is not included within permanent equity. Temporary equity is a security with redemption features that are outside the control of the issuer, is not classified as an asset or liability in conformity with GAAP, and is not mandatorily redeemable. Includes any type of security that is redeemable at a fixed or determinable price or on a fixed or determinable date or dates, is redeemable at the option of the holder, or has conditions for redemption which are not solely within the control of the issuer. Includes stock with a put option held by an ESOP and stock redeemable by a holder only in the event of a change in control of the issuer.

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The aggregate liquidation preference (or restrictions) of stock classified as temporary equity that has a preference in involuntary liquidation considerably in excess of the par or stated value of the shares. The liquidation preference is the difference between the preference in liquidation and the par or stated values of the share. Temporary equity is a security with redemption features that are outside the control of the issuer, is not classified as an asset or liability in conformity with GAAP, and is not mandatorily redeemable. Includes any type of security that is redeemable at a fixed or determinable price or on a fixed or determinable date or dates, is redeemable at the option of the holder, or has conditions for redemption which are not solely within the control of the issuer. If convertible, the issuer does not control the actions or events necessary to issue the maximum number of shares that could be required to be delivered under the conversion option if the holder exercises the option to convert the stock to another class of equity. If the security is a warrant or a rights issue, the warrant or rights issue is considered to be temporary equity if the issuer cannot demonstrate that it would be able to deliver upon the exercise of the option by the holder in all cases. Includes stock with put option held by ESOP and stock redeemable by holder only in the event of a change in control of the issuer.

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The maximum number of securities classified as temporary equity that are permitted to be issued by an entity's charter and bylaws. Temporary equity is a security with redemption features that are outside the control of the issuer, is not classified as an asset or liability in conformity with GAAP, and is not mandatorily redeemable. Includes any type of security that is redeemable at a fixed or determinable price or on a fixed or determinable date or dates, is redeemable at the option of the holder, or has conditions for redemption which are not solely within the control of the issuer. If convertible, the issuer does not control the actions or events necessary to issue the maximum number of shares that could be required to be delivered under the conversion option if the holder exercises the option to convert the stock to another class of equity. If the security is a warrant or a rights issue, the warrant or rights issue is considered to be temporary equity if the issuer cannot demonstrate that it would be able to deliver upon the exercise of the option by the holder in all cases. Includes stock with put option held by ESOP and stock redeemable by holder only in the event of a change in control of the issuer.

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The number of securities classified as temporary equity that have been issued and are held by the entity's shareholders. Securities outstanding equals securities issued minus securities held in treasury. Temporary equity is a security with redemption features that are outside the control of the issuer, is not classified as an asset or liability in conformity with GAAP, and is not mandatorily redeemable. Includes any type of security that is redeemable at a fixed or determinable price or on a fixed or determinable date or dates, is redeemable at the option of the holder, or has conditions for redemption which are not solely within the control of the issuer. If convertible, the issuer does not control the actions or events necessary to issue the maximum number of shares that could be required to be delivered under the conversion option if the holder exercises the option to convert the stock to another class of equity. If the security is a warrant or a rights issue, the warrant or rights issue is considered to be temporary equity if the issuer cannot demonstrate that it would be able to deliver upon the exercise of the option by the holder in all cases. Includes stock with put option held by ESOP and stock redeemable by holder only in the event of a change in control of the issuer.

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