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Equity Incentive Plans - Summary of Option Activity (Details)
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
2020 and 2021 Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Options, Outstanding beginning period | shares 306,739  
Number of Options, exercised | shares (922,208)  
Number of Options, Outstanding ending period | shares 4,752,515 306,739
Number of Options, Exercisable | shares 126,434  
Number of Options, Vested and expected to vest | shares 4,752,515  
Weighted Average Exercise Price Per Share, outstanding beginning period | $ / shares $ 0.29  
Weighted Average Exercise Price Per Share, exercised | $ / shares 0.31  
Weighted Average Exercise Price Per Share, outstanding ending period | $ / shares 6.95 $ 0.29
Weighted Average Exercise Price Per Share, exercisable | $ / shares 5.69  
Weighted Average Exercise Price Per Share, Vested and expected to vest | $ / shares $ 6.95  
Weighted Average Remaining Contractual Term, Outstanding 9 years 9 months 18 days 9 years 10 months 24 days
Weighted Average Remaining Contractual Term, exercisable 9 years 8 months 12 days  
Weighted Average Remaining Contractual Term, Vested and expected to vest 9 years 9 months 18 days  
Aggregate Intrinsic Value, Outstanding | $ $ 112,995 $ 1,365
Aggregate Intrinsic Value, Exercisable | $ 3,166  
Aggregate Intrinsic Value, Vested and expected to vest | $ $ 112,995  
2020 Stock Option and Grant Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Options, Granted | shares 4,986,847  
Weighted Average Exercise Price Per Share, granted | $ / shares $ 5.39  
2021 Stock Option and Incentive Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Options, Granted | shares 381,137 1,204,341
Weighted Average Exercise Price Per Share, granted | $ / shares $ 17.00