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Stock-Based Compensation - Schedule of stock option activity (Details) - Employee stock option - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]    
Beginning balance (in shares) 2,594,597  
Granted (in shares) 965,944  
Exercised (in shares) 0  
Ending balance (in shares) 3,560,541 2,594,597
Exercisable (in shares) 2,594,597  
Vested and expected to vest 3,560,541  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]    
Beginning balance (in dollars per share) $ 3.79  
Granted (in dollars per share) 10.52  
Ending balance (in dollars per share) 5.61 $ 3.79
Exercisable (in dollars per share) 3.79  
Vested and expected to vest (in dollars per share) $ 5.61  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]    
Weighted average remaining contractual term (in years) 8 years 2 months 12 days 8 years 6 months
Weighted average remaining contractual term, exercisable (in years) 7 years 7 months 6 days  
Vested and expected to vest (in years) 8 years 2 months 12 days  
Share Based Compensation Arrangement By Share Based Payment Award Options Aggregate Intrinsic Value [Abstract]    
Beginning aggregate intrinsic value $ 13,791  
Exercisable aggregate intrinsic value 91,080  
Ending aggregate intrinsic value 118,483 $ 13,791
Vested and expected to vest, aggregate intrinsic value $ 118,483