Net Loss Per Share Attributable to Common Stockholders - Summary of Computation of Basic and Diluted Net 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
Numerator:
Net loss	$ (17,529)	$ (1,312)	$ (37,238)	$ (1,453)
Denominator:
Weighted-average common shares outstanding	12,482,522	8,660,951	11,781,319	4,330,475
Less: weighted-average unvested restricted shares and shares subject to repurchase	(7,395,514)	(6,331,549)	(7,375,962)	(3,165,775)
Weighted-average shares used to compute basic and diluted net loss per share attributable to common stockholders	5,087,008	2,329,402	4,405,357	1,164,700
Net loss per share attributable to common stockholders—basic and diluted	$ (3.45)	$ (0.56)	$ (8.45)	$ (1.25)