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Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2020
Jun. 30, 2021
Dec. 31, 2020
Share Based Compensation [Abstract]      
Number of Shares Available for Grant, Begining balance   1,739,621  
Number of Shares Available for Grant, Options authorized   2,287,089  
Number of Shares Available for Grant, Options granted   (1,911,472)  
Number of Shares Available for Grant, Options forfeited or cancelled   745,006  
Number of Shares Available for Grant, Ending balance 0 2,860,244 1,739,621
Number of Shares Underlying Outstanding Options, Beginning balance   3,706,945  
Number of Shares Underlying Outstanding Options, Options granted   1,911,472  
Number of Shares Underlying Outstanding Options, Options exercised   (433,594)  
Number of Shares Underlying Outstanding Options, Options forfeited or cancelled   (745,006)  
Number of Shares Underlying Outstanding Options, Ending balance   4,439,817 3,706,945
Number of Shares Underlying Outstanding Options, Shares exercisable   1,288,596  
Number of Shares Underlying Outstanding Options, Vested and expected to vest   4,439,817  
Weighted-Average Exercise Price, Outstanding beginning   $ 10.90  
Weighted-Average Exercise Price, Options granted   15.04  
Weighted-Average Exercise Price, Options exercised   2.91  
Weighted-Average Exercise Price, Options forfeited or cancelled   14.26  
Weighted-Average Exercise Price, Outstanding ending   12.90 $ 10.90
Weighted-Average Exercise Price, Shares exercisable   8.43  
Weighted-Average Exercise Price, Vested and expected to vest   $ 12.90  
Weighted-Average Remaining Contract Term, Outstanding   8 years 2 months 12 days 7 years 11 months 23 days
Weighted-Average Remaining Contract Term, Shares exercisable   5 years 2 months 12 days  
Weighted-Average Remaining Contract Term, Vested and expected to vest   8 years 2 months 12 days  
Aggregate Intrinsic Value, Outstanding   $ 4,948 $ 15,126
Aggregate Intrinsic Value, Shares exercisable   4,522  
Aggregate Intrinsic Value, Vested and expected to vest   $ 4,948