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Common Stock - Schedule of Number of Shares of Common Stock Reserved for Future Issuance (Details) - shares
Jun. 30, 2021
Dec. 31, 2020
Class Of Stock [Line Items]    
Number of shares of common stock reserved for future issuance 7,520,950 5,672,757
Stock Options Available for Future Grant    
Class Of Stock [Line Items]    
Number of shares of common stock reserved for future issuance 2,853,833 1,739,621
Options Issued and Outstanding    
Class Of Stock [Line Items]    
Number of shares of common stock reserved for future issuance 4,446,227 3,706,945
Common Stock Warrants    
Class Of Stock [Line Items]    
Number of shares of common stock reserved for future issuance 220,890 226,191