Stock-Based Compensation - Summary of the Company's Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2021	Dec. 31, 2020
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Balance, Shares	4,738,607
Granted, Shares	5,342,173
Exercised, Shares	(305,270)
Forfeited/Cancelled, Shares	(758,844)
Balance, Shares	9,016,666	4,738,607
Options vested and expected to vest as of June 30, 2021, Shares	9,016,666
Options vested and exercisable as of June 30, 2021, Shares	2,172,462
Balance, Weighted Average Exercise Price	$ 10.34
Options Granted, Weighted Average Exercise Price	9.18
Exercised, Weighted Average Exercise Price	1.40
Forfeited/Cancelled, Weighted Average Exercise Price	10.47
Balance, Weighted Average Exercise Price	9.95	$ 10.34
Options vested and expected to vest as of June 30, 2021, Weighted Average Exercise Price	9.95
Options vested and exercisable as of June 30, 2021, Weighted Average Exercise Price	$ 9.63
Balance, Weighted Average Remaining Contractual Term (Years)	8 years 6 months 3 days	0 years
Options vested and expected to vest as of June 30, 2021, Weighted Average Remaining Contractual Term (Years)	8 years 6 months 3 days
Options vested and exercisable as of June 30, 2021, Weighted Average Remaining Contractual Term (Years)	6 years 7 months 6 days
Balance, Intrinsic Value	$ 10,421
Options vested and expected to vest as of June 30, 2021, Intrinsic	10,421
Options Exercisable as of June 30, 2021, Intrinsic Value	$ 5,358