Convertible Preferred Stock and Stockholders' Equity (Deficit) - Schedule of Convertible Preferred Stock (Details) $ in Thousands	Dec. 31, 2020 USD ($) shares
Class Of Stock [Line Items]
Share Authorized and Outstanding	54,039,749
Shares Issued and Outstanding	32,198,879
Convertible preferred stock issued upon conversion	7,748,113
Aggregate Liquidation Preference | $	$ 30,007
Carrying Value | $	$ 30,062
Series A-1
Class Of Stock [Line Items]
Share Authorized and Outstanding	49,089,955
Shares Issued and Outstanding	27,249,085
Convertible preferred stock issued upon conversion	6,557,031
Aggregate Liquidation Preference | $	$ 26,200
Carrying Value | $	$ 25,912
Series A-2
Class Of Stock [Line Items]
Share Authorized and Outstanding	4,949,794
Shares Issued and Outstanding	4,949,794
Convertible preferred stock issued upon conversion	1,191,082
Aggregate Liquidation Preference | $	$ 3,807
Carrying Value | $	$ 4,150