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Stock-Based Compensation Expense - Summary of Stock Option Activity Under Plans (Details)
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]    
Shares, Outstanding December 31, 2020 | shares 1,428,886  
Shares, Granted | shares 439,700  
Shares, Exercised | shares (68,728)  
Shares, Cancelled | shares (35,359)  
Shares, Outstanding at June 30, 2021 | shares 1,764,499 1,428,886
Shares, Exercisable at June 2021 | shares 719,441  
Shares, Vested and expected to vest at June 30, 2021 | shares 1,764,499  
Weighted Average Exercise Price, Outstanding December 31, 2020 | $ / shares $ 10.41  
Weighted Average Exercise Price, Granted | $ / shares 10.27  
Weighted Average Exercise Price, Exercised | $ / shares 8.63  
Weighted Average Exercise Price, Cancelled | $ / shares 11.39  
Weighted Average Exercise Price, Outstanding at June 30,2021 | $ / shares 10.42 $ 10.41
Weighted Average Exercise Price, Exercisable at June 30, 2021 | $ / shares 9.53  
Weighted Average Exercise Price, Vested and expected to vest at June 30, 2021 | $ / shares $ 10.42  
Outstanding, Weighted Average Remaining Contractual Life (in years) 8 years 7 years 8 months 12 days
Exercisable, Weighted Average Remaining Contractual Life (in years) 6 years 8 months 12 days  
Vested and expected to vest, Weighted Average Remaining Contractual Life (in years) 8 years  
Aggregate Intrinsic Value, Outstanding December 31, 2020 | $ $ 2,979 $ 5,165
Aggregate Intrinsic Value, Exercisable at June 30, 2021 | $ 2,048  
Aggregate Intrinsic Value, Vested and expected to vest at June 30, 2021 | $ $ 2,979