The Company and Basis of Presentation (Details) - USD ($) $ / shares in Units, $ in Thousands		3 Months Ended		6 Months Ended
	Jul. 21, 2020	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	Dec. 31, 2020
Organization, Consolidation and Presentation of Financial Statement [Line Items]
Net loss		$ 18,154	$ 12,430	$ 33,589	$ 20,855
Accumulated deficit		225,473		225,473		$ 191,884
Cash and cash equivalents		$ 215,077		$ 215,077		$ 233,408
Convertible Preferred Stock
Organization, Consolidation and Presentation of Financial Statement [Line Items]
Number of convertible preferred stock converted (in shares)	50,462,272
IPO
Organization, Consolidation and Presentation of Financial Statement [Line Items]
Number of shares sold (in shares)	9,315,000
Shares offering price (in dollars per share)	$ 22.00
Net proceeds after deducting offering costs, underwriting discounts and commissions	$ 187,900
Offering costs, underwriting discounts and commissions	$ 17,000
Underwriters' Option
Organization, Consolidation and Presentation of Financial Statement [Line Items]
Number of shares sold (in shares)	1,215,000