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Stock-based Compensation - Additional Information (Details) - USD ($)
6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Expected dividend yield 0.00%    
Fair value of options vested $ 297,000 $ 124,000  
Aggregate intrinsic value of options exercised 1,300,000 1,300,000  
Unrecognized compensation cost $ 12,200,000    
Remaining weighted-average period expected to recognize unrecognized compensation cost 1 year 7 months 6 days    
Restricted Stock Award (RSA)      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Vesting period 3 years    
Share granted 0    
Employees and Directors      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Weighted-average grant-date fair value of options granted $ 10,200,000 32,000  
Fair value of options vested 261,000 72,000  
Advisors      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Weighted-average grant-date fair value of options granted 0 10,000  
Fair value of options vested $ 36,000 $ 52,000  
Non-employees | Restricted Stock Award (RSA)      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of shares subject to repurchase upon discontinued service 4,204   4,204