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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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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 820
-SubTopic 10
-Section 50
-Paragraph 2
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Exercise price per share or per unit of warrants or rights outstanding.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 505
-SubTopic 10
-Section 50
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