Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2021	Dec. 31, 2020
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Options Outstanding, Number of Options, Shares, Beginning Balance	1,570,728
Options Outstanding, Number of Options, Exercised, Shares	(978,495)
Options Outstanding, Number of Options, Cancelled, Shares	(29,705)
Options Outstanding, Number of Options, Shares, Ending Balance	562,528	1,570,728
Options Outstanding, Number of Options Exercisable, Shares, as of June 30, 2021	467,528
Options Outstanding, Number of Options, Vested and expected to vest, Shares as of June 30, 2021	562,528
Options Outstanding, Weighted Average Exercise Price, Beginning Balance	$ 9.09
Options Outstanding, Weighted Average Exercise Price, Exercised	9.01
Options Outstanding, Weighted Average Exercise Price, Cancelled	9.23
Options Outstanding, Weighted Average Exercise Price, Ending Balance	9.21	$ 9.09
Options Outstanding, Weighted Average Exercise Price, Exercisable as of June 30, 2021	9.12
Options Outstanding, Weighted Average Exercise Price, Vested and expected to vest as of June 30, 2021	$ 9.21
Options Outstanding, Weighted Average Remaining Contractual Life (Years)	7 years 3 months 21 days	7 years 8 months 15 days
Options Outstanding, Weighted Average Remaining Contractual Life (Years), Exercisable as of June 30, 2021	7 years 3 months 3 days
Options Outstanding, Weighted Average Remaining Contractual Life (Years), Vested and expected to vest as of June 30, 2021	7 years 3 months 21 days
Options Outstanding, Aggregate Intrinsic Value, Beginning Balance	$ 12,756
Options Outstanding, Aggregate Intrinsic Value, Ending Balance	3,049	$ 12,756
Options Outstanding, Aggregate Intrinsic Value, Exercisable as of June 30, 2021	2,574
Options Outstanding, Aggregate Intrinsic Value, Vested and expected to vest as of June 30, 2021	$ 3,049