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Company and Nature of Business - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended
Jul. 19, 2021
Jul. 18, 2021
Jul. 07, 2021
Jun. 30, 2021
Mar. 31, 2021
Jun. 30, 2020
Mar. 31, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]                    
Estimated offering costs                 $ 106  
Accumulated deficit       $ 119,896       $ 119,896   $ 90,041
Net loss       $ 17,615 $ 12,240 $ 8,316 $ 9,175 29,855 $ 17,491  
Subsequent Event                    
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]                    
Proceeds from initial public offering $ 253,000                  
Stock issued upon conversion of convertible preferred shares   25,534,404                
Stock split     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.              
IPO                    
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]                    
Estimated offering costs               $ 3,300    
IPO | Subsequent Event                    
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]                    
Sale of stock, price per share $ 24.00                  
Proceeds from initial public offering $ 253,000                  
Underwriting discounts and commissions 19,300                  
Estimated offering costs $ 3,700                  
Warrants to purchase common stock 659,028                  
IPO | Subsequent Event | Common Stock                    
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]                    
Common stock issued 10,000,000                  
Sale of stock, price per share $ 24.00                  
Underwriters' Option | Subsequent Event | Common Stock                    
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]                    
Common stock issued 1,500,000