Early exercise of stock options repurchase right lapse period.

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Share based compensation arrangement by share based payment award remained subject to right of repurchase of early exercised stock options.

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Share based compensation arrangement by share based payment award remaining liability related to early exercised stock options.

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Share-based compensation arrangement by share-based payment grant date fair value of award year one.

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Share-based compensation arrangement by share-based payment grant date fair value of award year thereafter.

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Carrying value as of the balance sheet date of obligations incurred and payable, pertaining to costs that are statutory in nature, are incurred on contractual obligations, or accumulate over time and for which invoices have not yet been received or will not be rendered. Examples include taxes, interest, rent and utilities. Used to reflect the current portion of the liabilities (due within one year or within the normal operating cycle if longer).

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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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Aggregate number of common shares reserved for future issuance.

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Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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- Definition

Discount rate from fair value on offering date that participants pay for shares.

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- Definition

Discount rate from fair value on purchase date that participants pay for shares.

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- Definition

The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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- Definition

The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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- Definition

The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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- Definition

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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- Definition

Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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- Definition

The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Percentage of vesting of award under share-based payment arrangement.

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- Definition

Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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- Definition

Fair value of options vested. Excludes equity instruments other than options, for example, but not limited to, share units, stock appreciation rights, restricted stock.

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- Definition

Purchase price of common stock expressed as a percentage of its fair value.

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No definition available.

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Equity Incentive Plans - Additional Information (Details) - USD ($)	3 Months Ended		6 Months Ended		12 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock vesting period			4 years
Shares reserved for future issuance	10,571,378		10,571,378		14,714,687
Accrued liabilities	$ 45,000		$ 45,000
Weighted-average grant date fair value of options granted	$ 6.17		$ 5.44
Intrinsic value of the stock options exercised	$ 6,000		$ 4,600,000
Fair value of stock options vested	$ 100,000	$ 0	$ 1,300,000	$ 0
Early exercise of stock options repurchase right lapse period			180 days
Shares remained subject to the right of repurchase as a result of the early exercised stock options	1,614,832		1,614,832		865,129
Stock-based compensation expense	$ 2,018,000	$ 1,000	$ 3,051,000	$ 1,000
Unrecognized stock-based compensation expense	29,000,000.0		$ 29,000,000.0		$ 2,900,000
Unrecognized stock-based compensation expense, expected to be recognized period			3 years 7 months 6 days		3 years 8 months 12 days
Accrued Expenses and Other Liabilities
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Remaining liability related to early exercised shares	$ 500,000		$ 500,000		$ 300,000
2021 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for future issuance	564,000		564,000
Percentage of lower of the fair market value of common stock at the beginning of the offering period or at the end of each applicable purchase period			85.00%
Maximum \| 2021 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of eligible compensation to purchase shares of the Company’s common stock at a discount through payroll deductions			15.00%
Restricted Stock Units (RSUs)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock vesting period			4 years
Restricted stock awards granted	0	832,983	0	832,983
Share-based compensation, liabilities for restricted stock awards, cancelled			0		0
Share-based compensation, liabilities for restricted stock awards, vested			241,842		0
Outstanding Stock Option Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 2,011,000		$ 3,044,000
Outstanding Stock Option Awards \| Non-employees
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 200,000		$ 300,000
2020 Stock Option and Grant Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation arrangement by share based payment award, granted period			10 years
Share based compensation arrangement by share based payment award, exercise price percentage			10.00%
Common stock vesting period			4 years
2020 Stock Option and Grant Plan \| Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation arrangement by share based payment award, exercise price percentage			100.00%
2020 Stock Option and Grant Plan \| Stock Option Grant to 10.0% Stockholder
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock vesting period			5 years
2020 Stock Option and Grant Plan \| Stock Option Grant to 10.0% Stockholder \| Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation arrangement by share based payment award, exercise price percentage			110.00%
2020 Stock Option and Grant Plan \| Restricted Stock Units (RSUs)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Restricted stock awards granted					832,983
2021 Stock Option and Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock vesting period			10 years
Shares reserved for future issuance	5,636,000		5,636,000
Shares reserved and available for issuance			5.00%
Grant date fair value of year one			$ 1,000,000
Grant date fair value of year thereafter			$ 750,000
2021 Stock Option and Incentive Plan \| Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation arrangement by share based payment award, exercise price percentage			100.00%