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Subsequent Events - Additional Information (Details)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended
Jul. 19, 2021
USD ($)
$ / shares
shares
Jul. 18, 2021
shares
Jul. 07, 2021
Jun. 30, 2021
USD ($)
$ / shares
shares
Mar. 31, 2021
USD ($)
Jun. 30, 2020
USD ($)
Mar. 31, 2020
USD ($)
Jun. 30, 2021
USD ($)
$ / shares
shares
Jun. 30, 2020
USD ($)
Jul. 31, 2021
shares
Dec. 31, 2020
$ / shares
shares
Subsequent Event [Line Items]                      
Estimated offering costs | $                 $ 106    
Common stock warrants, net exercised | $       $ 196 $ 11 $ 7 $ 1        
Common stock, shares authorized       21,831,000       21,831,000     21,831,000
Common stock, par value | $ / shares       $ 0.001       $ 0.001     $ 0.001
Common stock reserved for future issuance       31,620,028       31,620,028     29,782,878
IPO                      
Subsequent Event [Line Items]                      
Estimated offering costs | $               $ 3,300      
Subsequent Event                      
Subsequent Event [Line Items]                      
Stock split, conversion ratio     2                
Proceeds, net of underwriting discounts and commissions | $ $ 253,000                    
Stock issued upon conversion of convertible preferred shares   25,534,404                  
Stock split, description     On July 7, 2021 the Company effected a 2-for-1 stock split of its issued and outstanding shares of common stock and a proportional adjustment to the existing conversion ratios for each series of the Company’s redeemable convertible preferred stock.                
Subsequent Event | 2021 Equity Incentive Plan                      
Subsequent Event [Line Items]                      
Common stock reserved for future issuance                   5,200,000  
Common stock granted upon pricing of IPO                   103,903  
Subsequent Event | 2021 Employee Stock Purchase Plan                      
Subsequent Event [Line Items]                      
Common stock reserved for future issuance                   850,000  
Subsequent Event | IPO                      
Subsequent Event [Line Items]                      
Sale of stock, price per share | $ / shares $ 24.00                    
Proceeds, net of underwriting discounts and commissions | $ $ 253,000                    
Warrants to purchase common stock 659,028                    
Underwriting discounts and commissions | $ $ 19,300                    
Estimated offering costs | $ $ 3,700                    
Common stock, shares authorized 200,000,000                    
Common stock, par value | $ / shares $ 0.001                    
Preferred stock, shares authorized 10,000,000                    
Preferred stock par value | $ / shares $ 0.001                    
Subsequent Event | IPO | Common Stock                      
Subsequent Event [Line Items]                      
Number of shares sold 10,000,000                    
Sale of stock, price per share | $ / shares $ 24.00                    
Subsequent Event | Underwriters' Option | Common Stock                      
Subsequent Event [Line Items]                      
Number of shares sold 1,500,000