Net Loss per Share - Summary of Basic and Diluted Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Earnings Per Share [Abstract]
Net Loss	$ (24,660)	$ (13,989)	$ (37,735)	$ (24,921)
Deemed dividend from exchange of convertible preferred stock				(9,050)
Net loss attributable to common stockholders	$ (24,660)	$ (13,989)	$ (37,735)	$ (33,971)
Weighted average common shares outstanding, basic and diluted	45,094,238	2,002,825	44,873,083	1,977,720
Net loss per share, basic and diluted	$ (0.55)	$ (6.98)	$ (0.84)	$ (17.18)