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Net Loss per Share - Summary of Basic and Diluted Net Loss per Share Attributable to Common Stockholders (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Numerator:        
Net loss attributable to common shareholders $ (26,309) $ (11,802) $ (47,726) $ (24,403)
Net loss attributable to common shareholders—basic and diluted $ (26,309) $ (11,802) $ (47,726) $ (24,403)
Denominator:        
Weighted-average common shares outstanding—basic and diluted 37,036,683 4,825,214 36,977,040 3,229,635
Net loss per share attributable to common shareholders—basic and diluted $ (0.71) $ (2.45) $ (1.29) $ (7.56)