Stockholders' Equity - Summary of Common Stock Reserved for Future Issuance (Details) - shares	Jun. 30, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Common stock reserved for future issuance	4,891,279	17,144,347
2015 Stock Incentive Plan
Class Of Stock [Line Items]
Common stock reserved for future issuance		790,596
Shares reserved for exercise of outstanding stock options	2,680,543	2,686,120
2021 Stock Incentive Plan
Class Of Stock [Line Items]
Common stock reserved for future issuance	1,391,849
Shares reserved for exercise of outstanding stock options	252,850
2021 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Common stock reserved for future issuance	566,037
Series A convertible preferred stock
Class Of Stock [Line Items]
Common stock reserved for future issuance		3,719,410
Series B convertible preferred stock
Class Of Stock [Line Items]
Common stock reserved for future issuance		989,299
Series C convertible preferred stock
Class Of Stock [Line Items]
Common stock reserved for future issuance		2,970,149
Series D convertible preferred stock
Class Of Stock [Line Items]
Common stock reserved for future issuance		5,988,773