Stock-Based Compensation - Schedule of Stock Option Activity (Details) - Stock Options $ / 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]
Outstanding. Stock Options, Beginning Balance | shares	674,842
Options granted, Stock Options | shares	2,586,650
Options cancelled or forfeited, Stock Options | shares	(47,800)
Outstanding. Stock Options, Ending Balance | shares	3,213,692	674,842
Vested and expected to vest at June 30, 2021, Stock Options | shares	3,213,692
Options exercisable at June 30, 2021, Stock Options | shares	43,054
Outstanding, Weighted Average Exercise Price, Beginning balance | $ / shares	$ 20.68
Options granted, Weighted Average Exercise Price | $ / shares	26.41
Options cancelled or forfeited, Weighted Average Exercise Price | $ / shares	28.61
Outstanding, Weighted Average Exercise Price, Ending balance | $ / shares	25.18	$ 20.68
Vested and expected to vest at June 30, 2021, Weighted Average Exercise Price | $ / shares	25.18
Options exercisable at June 30, 2021, Weighted Average Exercise Price | $ / shares	$ 20.50
Outstanding, Weighted Average Remaining Contractual Life	9 years 7 months 6 days	9 years 9 months 18 days
Vested and expected to vest at June 30, 2021, Weighted Average Exercise Price	9 years 7 months 6 days
Options exercisable at June 30, 2021, Weighted Average Exercise Price	9 years 3 months 18 days
Outstanding, Aggregate Intrinsic Value, Beginning Balance | $	$ 3,953
Outstanding, Aggregate Intrinsic Value, Ending Balance | $	786	$ 3,953
Vested and expected to vest at June 30, 2021, Aggregate Intrinsic Value | $	786
Options exercisable at June 30, 2021, Aggregate Intrinsic Value | $	$ 37