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Stock-Based Awards - Summary of Stock Option Activity (Detail)
$ / 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]    
Number of Shares, Beginning balance | shares 4,665,586  
Number of Shares, Granted | shares 5,366,200  
Number of Shares, Exercised | shares (67,357)  
Number of Shares, Canceled, forfeited or expired | shares (345,757)  
Number of Shares, Ending balance | shares 9,618,672 4,665,586
Number of Shares, Options exercisable | shares 2,783,882 2,377,533
Number of Shares, Options vested and expected to vest | shares 9,323,836 4,592,729
Weighted Average Exercise Price, Beginning balance | $ / shares $ 2.39  
Weighted Average Exercise Price, Granted | $ / shares 1.30  
Weighted Average Exercise Price, Exercised | $ / shares 0.62  
Weighted Average Exercise Price, Canceled, forfeited or expired | $ / shares 1.84  
Weighted Average Exercise Price, Ending balance | $ / shares 1.81 $ 2.39
Weighted Average Exercise Price, Options exercisable | $ / shares 3.06 3.28
Weighted Average Exercise Price, Options vested and expected to vest | $ / shares $ 1.83 $ 2.41
Weighted-Average Remaining Contractual Term, Outstanding 8 years 9 months 18 days 8 years 1 month 6 days
Weighted Average Remaining Contractual Term, Options exercisable 6 years 10 months 24 days 7 years 7 months 6 days
Weighted Average Remaining Contractual Term, Options vested and expected to vest 8 years 9 months 18 days 8 years 1 month 6 days
Aggregate Intrinsic Value | $ $ 822 $ 622
Aggregate Intrinsic Value, Options exercisable | $ 381 197
Aggregate Intrinsic Value, Options vested and expected to vest | $ $ 808 $ 606