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Organization - Additional Information (Details)
 1 Months Ended 6 Months Ended 12 Months Ended
Oct. 22, 2020
shares
Sep. 29, 2020
USD ($)
$ / shares
shares
Sep. 24, 2020
shares
Sep. 18, 2020
Dec. 31, 2020
USD ($)
Mar. 31, 2020
Jun. 30, 2021
USD ($)
Dec. 31, 2020
USD ($)
shares
Dec. 31, 2019
USD ($)
Organization Consolidation And Presentation Of Financial Statements [Line Items]                  
Net proceeds from shares issued               $ 96,255,000  
Reverse stock split, description               On September 18, 2020, the Company effected a 9.0058:1 reverse stock split of its issued and outstanding common stock. Upon the effectiveness of the reverse stock split, (i) all shares of outstanding common stock were adjusted; (ii) the conversion prices of the convertible preferred stock were adjusted; (iii) the number of shares of common stock for which each outstanding option and warrant to purchase common stock is exercisable were adjusted; and (iv) the exercise price of each outstanding option and warrant to purchase common stock was adjusted. All of the outstanding common stock share numbers (including shares of common stock subject to the Company’s options, warrants and as-converted for the outstanding convertible preferred stock), share prices, exercise prices and per share amounts contained in the financial statements have been retroactively adjusted to reflect this reverse stock split for all periods presented. The par value per share and the authorized number of shares of common stock were not adjusted as a result of the reverse stock split.  
Reverse stock split       0.111039552          
Accumulated deficit         $ 133,367,000     $ 133,367,000 $ 105,836,000
Cash and cash equivalents         33,418,000     33,418,000 15,870,000
Short-term investments         $ 61,615,000     $ 61,615,000 $ 20,086,000
Tax Cuts and Jobs Act of 2017, percentage of income limitation on use of net operating losses           80.00%      
Income taxes receivable, net operating loss term, CARES Act           5 years      
Income taxes receivable, net operating loss, CARES Act Relief description               In March 2020, the Families First Coronavirus Response Act, or FFCR Act, and the Coronavirus Aid, Relief and Economic Security Act, or CARES Act, were signed into law in response to the COVID-19 pandemic. The FFCR Act and CARES Act include provisions related to refundable payroll tax credits, deferment of employer side social security payments, and retroactively and temporarily (for taxable years beginning before January 1, 2021) suspending the application of the 80%-of-income limitation on the use of net operating losses, which was enacted as part of the Tax Cuts and Jobs Act of 2017. The CARES Act also provides that net operating losses arising in any taxable year beginning after December 31, 2017 and before January 1, 2021 are generally eligible to be carried back up to five years. In June 2020, Assembly Bill 85, or A.B. 85, was signed into California law. A.B. 85 provides for a three-year suspension of the use of net operating losses for medium and large businesses and a three-year cap on the use of business incentive tax credits to offset no more than $5.0 million of tax per year. A.B. 85 suspends the use of net operating losses for taxable years 2020, 2021 and 2022 for certain taxpayers with taxable income of $1.0 million or more. The carryover period for any net operating losses that are suspended under this provision will be extended. A.B. 85 also requires that business incentive tax credits including carryovers may not reduce the applicable tax by more than $5.0 million for taxable years 2020, 2021 and 2022.  
Employee retention tax credit period, start date         Jan. 01, 2021        
Employee retention tax credit period, end date         Jun. 30, 2021        
Credit rate percent of qualified wages         50.00%        
Creditable wages limit per year         $ 10,000     $ 10,000  
Forecast                  
Organization Consolidation And Presentation Of Financial Statements [Line Items]                  
Credit rate percent of qualified wages             70.00%    
Creditable wages limit per quarter             $ 10,000    
Initial Public Offering | Common Stock                  
Organization Consolidation And Presentation Of Financial Statements [Line Items]                  
Issuance of common stock upon initial public offering, net of issuance costs, Shares | shares   6,468,750           6,468,750  
Shares issued and sold, price per share | $ / shares   $ 16.00              
Number of shares purchased in additional pursuant to underwriters' option | shares 843,750                
Net proceeds from shares issued   $ 92,000,000              
Conversion of convertible preferred stock into common stock upon initial public offering | shares     117,809,883            
Outstanding redeemable convertible preferred stock converted to common stock | shares     13,085,913