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Equity Incentive Plans and Stock-Based Compensation - Restricted Common Stock Awards Narrative (Details) - Restricted stock awards - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of shares granted during period (in shares) 0 0  
Number of shares, not purchased (in shares) 4,195    
Weighted-average grant date fair value, not purchased (USD per share) $ 0.08    
Aggregate fair value of restricted stock awards vested $ 102    
Total intrinsic value of outstanding unvested restricted stock awards 1,900    
Accrued Expenses and Other Liabilities      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Accrued expenses and other liabilities $ 6   $ 10
Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period 1 year    
Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period 4 years