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Commitments and Contingencies - Summary of Maturities of Lease Liabilities (Details) - USD ($)
$ in Thousands
Jun. 30, 2021
Dec. 31, 2020
Commitments And Contingencies Disclosure [Abstract]    
2021 (remaining 6 months) $ 3,162  
2022 5,425  
2023 5,555  
2024 4,870  
2025 4,735  
Thereafter 20,403  
Total future lease payments 44,150  
Imputed interest (12,423)  
Total lease liability balance 31,727  
Less current portion of lease liability 5,641 $ 4,808
Lease liability, net of current portion $ 26,086 $ 25,374