Convertible Preferred Stock and Stockholders' Equity (Deficit) - Schedule of Convertible Preferred Stock (Details) $ in Thousands	Jun. 30, 2021 USD ($) shares
Class Of Stock [Line Items]
Share Authorized and Outstanding	89,908,215
Shares Issued and Outstanding	89,908,215
Convertible preferred stock, Shares issued upon conversion	21,634,898
Aggregate Liquidation Preference | $	$ 150,837
Carry Value | $	$ 151,613
Series A-1
Class Of Stock [Line Items]
Share Authorized and Outstanding	49,193,959
Shares Issued and Outstanding	49,193,959
Convertible preferred stock, Shares issued upon conversion	11,837,711
Aggregate Liquidation Preference | $	$ 47,300
Carry Value | $	$ 46,916
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, Shares issued upon conversion	1,191,082
Aggregate Liquidation Preference | $	$ 3,807
Carry Value | $	$ 4,150
Series B-1
Class Of Stock [Line Items]
Share Authorized and Outstanding	32,958,612
Shares Issued and Outstanding	32,958,612
Convertible preferred stock, Shares issued upon conversion	7,930,924
Aggregate Liquidation Preference | $	$ 93,000
Carry Value | $	$ 92,630
Series B-2
Class Of Stock [Line Items]
Share Authorized and Outstanding	2,805,850
Shares Issued and Outstanding	2,805,850
Convertible preferred stock, Shares issued upon conversion	675,181
Aggregate Liquidation Preference | $	$ 6,730
Carry Value | $	$ 7,917