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Stock-Based Compensation - Summary of Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Number of Shares    
Outstanding | shares 4,543,318  
Granted | shares 1,140,400  
Exercised | shares (322,896)  
Forfeited/Cancelled | shares (194,165)  
Outstanding | shares 5,166,657 4,543,318
Exercisable | shares 2,652,701  
Vested and expected to vest | shares 5,166,657  
Weighted Average Exercise Price Per Share    
Outstanding | $ / shares $ 8.52  
Granted | $ / shares 24.77  
Exercised | $ / shares 8.58  
Forfeited/Cancelled | $ / shares 14.33  
Outstanding | $ / shares 11.88 $ 8.52
Exercisable | $ / shares 7.05  
Vested and expected to vest | $ / shares $ 11.88  
Weighted Average Remaining Contractual Term    
Outstanding 7 years 7 days 7 years 2 months 19 days
Exercisable 5 years 6 months  
Vested and expected to vest 7 years 7 days  
Aggregate Intrinsic Value    
Outstanding | $ $ 41,555 $ 108,048
Exercisable | $ 30,455  
Vested and expected to vest | $ $ 41,555