Convertible Preferred Stock - Additional Information (Details)	6 Months Ended	12 Months Ended
	Jun. 30, 2021 USD ($) Director $ / shares shares	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($) shares	Dec. 31, 2018 USD ($) shares
Temporary Equity [Line Items]
Description of conversion terms for preferred stock	In addition, each share of Series A Preferred Stock, Series B Preferred Stock and Series C Preferred Stock will automatically convert into shares of common stock at the applicable conversion ratio in effect upon the earlier of (a) the closing of a Qualified IPO (as defined in the Company’s certificate of incorporation) or (b) the date and time, or the occurrence of an event, specified by vote or written consent of the holders of at least fifty-nine percent (59%) of the then outstanding shares of Preferred Stock (voting together as a single class, and not as separate series, and on an as converted to common stock basis).
Series A Preferred Stock
Temporary Equity [Line Items]
Preferred stock, value				$ 25,000,000
Preferred stock issued, shares | shares				3,209,240
Stock issuance costs				$ 100,000
Preferred stock, original issue purchase price per share | $ / shares	$ 7.79
Number of directors entitled to elect | Director	4
Preferred stock, conversion price | $ / shares	$ 7.79
Series B Preferred Stock
Temporary Equity [Line Items]
Preferred stock, value			$ 35,000,000
Preferred stock issued, shares | shares			3,853,864
Stock issuance costs			$ 200,000
Preferred stock, original issue purchase price per share | $ / shares	$ 9.02
Number of directors entitled to elect | Director	2
Preferred stock, conversion price | $ / shares	$ 9.02
Series C Preferred Stock
Temporary Equity [Line Items]
Preferred stock, value	$ 100,000,000
Preferred stock issued, shares | shares	8,553,168
Stock issuance costs	$ 300,000
Preferred stock, original issue purchase price per share | $ / shares	$ 11.70
Number of directors entitled to elect | Director	1
Preferred stock, conversion price | $ / shares	$ 11.70
Convertible Preferred Stock
Temporary Equity [Line Items]
Preferred stock, value	$ 99,730,000
Stock issuance costs	$ 270,000
Dividends accrual rate	8.00%
Dividends declared or paid	$ 0	$ 0
Cumulative dividends	$ 21,900,000