Stock-based Compensation - Summary of Option Activity under the 2020 Plan (Details) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2021 USD ($) $ / shares shares	Dec. 31, 2020 USD ($) $ / shares shares
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Shares, Beginning Balance | shares	1,974,870
Shares, Granted | shares	658,776
Shares, Exercised | shares	(148,544)
Shares, Forfeited/expired | shares	(2,400)
Shares, Ending Balance | shares	2,482,702	1,974,870
Shares, Expected to vest | shares	1,855,435
Shares, Options exercisable | shares	627,267
Weighted-Average Exercise price per Share, Beginning Balance | $ / shares	$ 9.31
Weighted-Average Exercise price per Share, Granted | $ / shares	20.96
Weighted-Average Exercise price per Share, Exercised | $ / shares	1.27
Weighted-Average Exercise price per Share, Forfeited/expired | $ / shares	21.40
Weighted-Average Exercise price per Share, Ending Balance | $ / shares	12.87	$ 9.31
Weighted-Average Exercise price per Share, Expected to vest | $ / shares	16.54
Weighted-Average Exercise price per Share, Options exercisable | $ / shares	$ 2.01
Weighted-Average Remaining Contractual Term (in years)	8 years 2 months 1 day	7 years 11 months 23 days
Weighted-Average Remaining Contractual Term, Expected to vest (in years)	9 years 2 months 8 days
Weighted-Average Remaining Contractual Term, Options exercisable (in years)	5 years 2 months 4 days
Aggregate Intrinsic Value, Beginning Balance | $	$ 7,700	$ 49,275
Aggregate Intrinsic Value, Expected to vest | $	2,210
Aggregate Intrinsic Value, Options exercisable | $	$ 5,491