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Summary of Significant Accounting Policies - Reconciliation of Liabilities Measured at Fair Value Using Significant Unobservable Inputs (Details) - Fair value, inputs, level 3 - USD ($)
$ in Thousands
3 Months Ended
Jun. 30, 2021
Mar. 31, 2021
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Roll Forward]    
Beginning balance $ 2,125 $ 1,668
Vested portion of liability classified equity award 283 258
Change in fair value measurement (68) 199
Ending balance $ 2,340 $ 2,125