Net Loss Per Share - Schedule 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	Mar. 31, 2021	Jun. 30, 2020	Mar. 31, 2020	Jun. 30, 2021	Jun. 30, 2020
Numerator:
Net loss	$ (18,370)	$ (13,723)	$ (8,040)	$ (7,849)	$ (32,093)	$ (15,889)
Cumulative dividends on redeemable convertible preferred stock			(855)		(1,228)	(1,570)
Net loss attributable to common stockholders	$ (18,370)		$ (8,895)		$ (33,321)	$ (17,459)
Denominator:
Weighted-average number of common shares outstanding, basic and diluted	36,843,087		156,454		29,593,814	150,735
Net loss per share attributable to common stockholders, basic and diluted	$ (0.50)		$ (56.85)		$ (1.13)	$ (115.83)