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Stock-based Compensation - Summary of Stock Option Award Activities (Details) - USD ($)
$ / shares in Units, $ in Thousands
 6 Months Ended 12 Months Ended
Jun. 30, 2021
Dec. 31, 2020
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]    
Options outstanding, beginning balance 1,247,158  
Options granted 305,132  
Options exercised 0  
Options cancelled 0  
Options outstanding, ending balance 1,552,290 1,247,158
Options exercisable 238,172  
Options vested or expected to vest 1,314,118  
Options outstanding, weighted average exercise price, beginning balance $ 5.16  
Options granted, weighted average exercise price 5.36  
Options exercised, weighted average exercise price 0  
Options cancelled, weighted average exercise price 0  
Options outstanding, weighted average exercise price, ending balance 5.20 $ 5.16
Options exercisable, weighted average exercise price 2.77  
Options vested or expected to vest, weighted average exercise price $ 5.64  
Options outstanding, weighted average remaining contractual term 9 years 1 month 24 days 9 years 4 months 2 days
Options exercisable, weighted average remaining contractual term 8 years 1 month 17 days  
Options vested or expected to vest, weighted average remaining contractual term 9 years 1 month 24 days  
Options outstanding, aggregate intrinsic value $ 1,486 $ 1,486
Options exercisable, aggregate intrinsic value 715  
Options vested or expected to vest, aggregate intrinsic value $ 771