Equity Incentive Plans and Stock-Based Compensation - Summary of Option Activity Under the 2015 Plan and 2020 Plan (Details) - 2015 Equity and 2020 Incentive Plan - Incentive Stock Options and Nonqualified Stock Options	6 Months Ended	12 Months Ended
	Jun. 30, 2021 USD ($) $ / shares shares	Dec. 31, 2020 USD ($) $ / shares shares
Number of Options
Number of Options, Outstanding, beginning balance (in shares) | shares	2,993,855
Number of Options, Granted (in shares) | shares	1,283,741
Number of Options, Exercised (in shares) | shares	(181,173)
Number of Options, Forfeited (in shares) | shares	(253,835)
Number of Options, Outstanding, ending balance (in shares) | shares	3,842,588	2,993,855
Number of Options, Exercisable (in shares) | shares	1,000,620
Number of Options, Vested and expected to vest (in shares) | shares	3,842,588
Weighted- Average Exercise Price per Share
Weighted-Average Exercise Price per Share, Outstanding, beginning balance (USD per share) | $ / shares	$ 8.18
Weighted-Average Exercise Price per Share, Granted (USD per share) | $ / shares	27.46
Weighted-Average Exercise Price per Share, Exercised (USD per share) | $ / shares	5.13
Weighted-Average Exercise Price per Share, Forfeited (USD per share) | $ / shares	14.59
Weighted-Average Exercise Price per Share, Outstanding, ending balance (USD per share) | $ / shares	14.34	$ 8.18
Weighted-Average Exercise Price per Share, Exercisable (USD per share) | $ / shares	6.64
Weighted Average Exercise Price per Share, Vested and expected to vest (USD per share) | $ / shares	$ 14.34
Stock Option Activity, Additional Disclosures
Weighted-Average Remaining Contractual Term, Options outstanding	8 years 9 months 10 days	8 years 10 months 2 days
Weighted- Average Remaining Contractual Term, Exercisable	8 years 1 month 20 days
Weighted- Average Remaining Contractual Term, Vested and expected to vest	8 years 9 months 10 days
Aggregate Intrinsic Value, Options outstanding | $	$ 57,309	$ 43,890
Aggregate Intrinsic Value, Exercisable | $	22,496
Aggregate Intrinsic Value, Vested and expected to vest | $	$ 57,309