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Stockholders' Equity - Additional Information (Details) - USD ($)			1 Months Ended	3 Months Ended	6 Months Ended
	Jun. 16, 2020	Apr. 01, 2019	Jun. 30, 2020	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	Dec. 31, 2020	Dec. 31, 2019	Jan. 31, 2013
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares authorized	400,000,000				400,000,000		400,000,000
Preferred stock undesignated shares authorized	40,000,000				40,000,000		40,000,000
Common stock par value per share	$ 0.0001				$ 0.0001		$ 0.0001
Preferred stock par value per share	$ 0.0001				0.0001		$ 0.0001
Reclassified accumulated deficit from predecessor deficit to additional paid in capital		$ 44,100,000
Weighted-average grant date fair value of options granted					$ 17.08	$ 5.14
Time-based Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation cost					$ 55,000,000.0
Weighted-average period of unrecognized compensation cost					3 years
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period					4 years
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period					2 years
2013 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Units initially reserved for issuance									2,127,013
Increased to number of shares reserved under plan								4,771,615
2013 Equity Incentive Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration period					10 years
2020 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock initially reserved for issuance			3,900,000	3,900,000		3,900,000
Percentage of shares of common stock outstanding on final day of immediately preceding calendar year			5.00%	5.00%		5.00%
Number of remaining shares available for issuance					2,669,735
2020 Incentive Award Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration period					10 years
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Participant maximum contribution as percentage of eligible compensation			15.00%	15.00%		15.00%
Percentage of purchase price of shares of lower of fair market value			85.00%
Shares of common stock available for issuance					657,475
Shares issued under ESPP					14,235	0
Unrecognized compensation cost					$ 200,000
Weighted-average period of unrecognized compensation cost					6 months
Employee Stock Purchase Plan \| Accounts Payable and Accrued Liabilities
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Outstanding liability					$ 39,000
Series A Convertible Preferred Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Preferred unit converted into convertible preferred stock		1
Series B Convertible Preferred Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Preferred unit converted into convertible preferred stock		1
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common unit converted into common stock		1
Convertible preferred stock converted into shares of common stock				17,921,000
IPO
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Sale of stock number of shares issued in transaction	16,560,000
Sale of stock, price per share	$ 18.00
Proceeds from the IPO, net of underwriting discounts, commissions and offering costs	$ 274,100,000
Convertible preferred stock converted into shares of common stock	17,921,069
IPO \| Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares authorized	400,000,000
Convertible preferred stock converted into shares of common stock			17,921,069