Organization and Nature of Operations - Additional Information (Details) - USD ($) $ in Thousands	6 Months Ended		12 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Dec. 31, 2020
Organization Consolidation And Presentation Of Financial Statements [Abstract]
Accumulated deficit	$ 165,687		$ 153,202
Net cash used in operating activities	14,699	$ 12,843	28,300
Cash and cash equivalents	$ 20,220		$ 23,906