Preferred and Common Stock - Schedule of Common Stock Reserved for Future Issuances (Details)	Jun. 30, 2021 shares
Class Of Stock [Line Items]
Shares of common stock reserved for future issuances	3,551,881
Stock Options
Class Of Stock [Line Items]
Shares of common stock reserved for future issuances	3,337,220
Employee stock purchase plan
Class Of Stock [Line Items]
Shares of common stock reserved for future issuances	214,661