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Stock Based Compensation - Summary of Stock Option Activity (Details) - Stock Options - 2018 Equity Incentive Plan
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock Options Outstanding, Beginning balance | shares 1,445,427  
Stock Options Outstanding, Granted | shares 1,272,770  
Stock Options Outstanding, Exercised | shares (108,656)  
Stock Options Outstanding, Cancelled | shares (118,377)  
Stock Options Outstanding, Ending balance | shares 2,491,164 1,445,427
Stock Options vested or expected to vest | shares 2,491,164  
Stock options exercisable | shares 456,750  
Stock Options Outstanding, Weighted Average Exercise Price, Beginning Balance | $ / shares $ 2.62  
Stock Options Granted, Weighted Average Exercise Price | $ / shares 7.25  
Stock Options Exercised, Weighted Average Exercise Price | $ / shares 2.18  
Stock Options Cancelled, Weighted Average Exercise Price | $ / shares 2.45  
Stock Options Outstanding, Weighted Average Exercise Price, Ending balance | $ / shares 5.01 $ 2.62
Stock Options vested or expected to vest, Weighted Average Exercise Price | $ / shares 5.01  
Stock options exercisable, Weighted Average Exercise Price | $ / shares $ 2.30  
Stock Options Outstanding, Weighted Average Remaining Contractual Life 8 years 11 months 8 days 8 years 8 months 26 days
Stock Options vested or expected to vest, Weighted Average Remaining Contractual Life 8 years 11 months 8 days  
Stock options exercisable, Weighted Average Remaining Contractual Life 8 years 7 days  
Stock Options Outstanding, Intrinsic Value, Beginning | $ $ 3,799  
Stock Options Outstanding, Intrinsic Value, Ending | $ 22,235 $ 3,799
Stock Options vested or expected to vest, Intrinsic Value | $ 22,235  
Stock options exercisable, Intrinsic Value | $ $ 5,315