Shareholders' Equity - Summary of Information Related to Issuance of Company's Preferred Stock (Details) $ in Thousands	Dec. 31, 2020 USD ($) shares
Class Of Stock [Line Items]
Number of Shares Authorized	17,528,207
Shares Issued	17,031,887
Shares Outstanding	17,031,887
Carrying Value | $	$ 281,342	[1]
Number of Common Stock Equivalent Shares	17,031,887
Liquidation Preference | $	$ 282,198
Series A-1
Class Of Stock [Line Items]
Number of Shares Authorized	730,591
Shares Issued	730,591
Shares Outstanding	730,591
Carrying Value | $	$ 500	[1]
Number of Common Stock Equivalent Shares	730,591
Liquidation Preference | $	$ 500
Series B
Class Of Stock [Line Items]
Number of Shares Authorized	955,573
Shares Issued	955,573
Shares Outstanding	955,573
Carrying Value | $	$ 6,999	[1]
Number of Common Stock Equivalent Shares	955,573
Liquidation Preference | $	$ 6,941
Series C
Class Of Stock [Line Items]
Number of Shares Authorized	917,554
Shares Issued	917,554
Shares Outstanding	917,554
Carrying Value | $	$ 9,073	[1]
Number of Common Stock Equivalent Shares	917,554
Liquidation Preference | $	$ 9,210
Series C-1
Class Of Stock [Line Items]
Number of Shares Authorized	1,671,229
Shares Issued	1,643,832
Shares Outstanding	1,643,832
Carrying Value | $	$ 17,941	[1]
Number of Common Stock Equivalent Shares	1,643,832
Liquidation Preference | $	$ 18,000
Series D
Class Of Stock [Line Items]
Number of Shares Authorized	4,261,994
Shares Issued	3,982,359
Shares Outstanding	3,982,359
Carrying Value | $	$ 70,686	[1]
Number of Common Stock Equivalent Shares	3,982,359
Liquidation Preference | $	$ 70,847
Series E
Class Of Stock [Line Items]
Number of Shares Authorized	8,991,266
Shares Issued	8,801,978
Shares Outstanding	8,801,978
Carrying Value | $	$ 176,143	[1]
Number of Common Stock Equivalent Shares	8,801,978
Liquidation Preference | $	$ 176,700

[1] The carrying value reflects the gross proceeds received from the sale of the preferred stock net of issuance costs and the fair value at issuance of preferred stock warrants classified as a liability