Convertible Preferred Stock - Schedule of Preferred Stock (Details) - USD ($)	Jun. 30, 2021	Dec. 31, 2020
Temporary Equity [Line Items]
Preferred Stock Authorized	128,053,586	57,917,522
Preferred Stock Issued and Outstanding	15,616,272	7,063,104
Carrying Value	$ 159,411,000	$ 59,681,000.00
Liquidation Preference	$ 181,879,000	$ 68,875,000
Common Stock Issuable Upon Conversion	15,616,272	7,063,104
Series A Preferred Stock
Temporary Equity [Line Items]
Preferred Stock Authorized	26,315,790	26,315,790
Preferred Stock Issued and Outstanding	3,209,240	3,209,240
Carrying Value	$ 24,874,000	$ 24,874,000
Liquidation Preference	$ 32,484,000	$ 29,838,000
Common Stock Issuable Upon Conversion	3,209,240	3,209,240
Series B Preferred Stock
Temporary Equity [Line Items]
Preferred Stock Authorized	31,601,732	31,601,732
Preferred Stock Issued and Outstanding	3,853,864	3,853,864
Carrying Value	$ 34,807,000	$ 34,807,000
Liquidation Preference	$ 44,053,000	$ 39,037,000
Common Stock Issuable Upon Conversion	3,853,864	3,853,864
Series C Preferred Stock
Temporary Equity [Line Items]
Preferred Stock Authorized	70,136,064
Preferred Stock Issued and Outstanding	8,553,168
Carrying Value	$ 99,730,000
Liquidation Preference	$ 105,342,000
Common Stock Issuable Upon Conversion	8,553,168