Convertible Preferred Stock and Equity - Summary of Temporary Equity (Details) - USD ($) $ / shares in Units, $ in Thousands	Aug. 24, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Shares Authorized	24,816,000	21,698,000
Shares Issued	24,816,000	21,458,000
Shares Outstanding	24,816,000	21,458,000
Liquidation Preference	$ 146,076	$ 111,108
March 2018 | Seed Redeemable Convertible Preferred Stock
Class Of Stock [Line Items]
Shares Authorized	4,707,000	4,707,000
Shares Issued	4,707,000	4,707,000
Shares Outstanding	4,707,000	4,707,000
Original Issue Price per Share	$ 1.0000	$ 1.0000
Liquidation Preference	$ 4,707	$ 4,707
September 2018 | Series A Redeemable Convertible Preferred Stock
Class Of Stock [Line Items]
Shares Authorized	4,541,000	4,541,000
Shares Issued	4,541,000	4,541,000
Shares Outstanding	4,541,000	4,541,000
Original Issue Price per Share	$ 1.1011	$ 1.1011
Liquidation Preference	$ 5,000	$ 5,000
May 2019 | Series B One Redeemable Convertible Preferred Stock
Class Of Stock [Line Items]
Shares Authorized	508,000	508,000
Shares Issued	508,000	508,000
Shares Outstanding	508,000	508,000
Original Issue Price per Share	$ 4.9767	$ 4.9767
Liquidation Preference	$ 2,527	$ 2,527
May 2019 | Series B Redeemable Convertible Preferred Stock
Class Of Stock [Line Items]
Shares Authorized	5,425,000	5,425,000
Shares Issued	5,425,000	5,425,000
Shares Outstanding	5,425,000	5,425,000
Original Issue Price per Share	$ 6.2209	$ 6.2209
Liquidation Preference	$ 33,750	$ 33,750
March 2020 | Series C One Redeemable Convertible Preferred Stock
Class Of Stock [Line Items]
Shares Authorized	761,000	761,000
Shares Issued	761,000	761,000
Shares Outstanding	761,000	761,000
Original Issue Price per Share	$ 10.0223	$ 10.0223
Liquidation Preference	$ 7,624	$ 7,624
March - May 2020, March 2021 | Series C Redeemable Convertible Preferred Stock
Class Of Stock [Line Items]
Shares Authorized	8,874,000	5,756,000
Shares Issued	8,874,000	5,516,000
Shares Outstanding	8,874,000	5,516,000
Original Issue Price per Share	$ 10.4236	$ 10.4236
Liquidation Preference	$ 92,468	$ 57,500