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Stock-Based Compensation - Summary of Stock Option Activity (Details) - $ / shares
shares in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2021
Dec. 31, 2020
Number of Unvested Options    
Granted 0  
2020 Plan    
Weighted Average Remaining Contractual Life (in years)    
Outstanding, Weighted Average Remaining Contractual Life 10 years  
Stock Options | 2020 Plan    
Number of Unvested Options    
Outstanding at December 31, 2020 2,159  
Granted 1,424  
Exercise 0  
Forfeited/cancelled (211)  
Outstanding at March 31, 2021 3,372 2,159
Vested at March 31, 2021 1,123  
Weighted Average Exercise Price Per Share    
Outstanding at December 31, 2020 $ 5.00  
Granted 5.36  
Exercise 5.00  
Forfeited/cancelled 5.00  
Outstanding at March 31, 2021 5.15  
Vested at March 31, 2021 $ 5.00  
Weighted Average Remaining Contractual Life (in years)    
Outstanding, Weighted Average Remaining Contractual Life 9 years 2 months 12 days 9 years 1 month 6 days
Granted , Weighted Average Remaining Contractual Life 9 years 8 months 12 days  
Vested, Weighted Average Remaining Contractual Life at March 31, 2021 8 years 8 months 12 days