Condensed Statements of Convertible Preferred Stock and Stockholders' Equity (Deficit) (Unaudited) - USD ($) shares in Thousands, $ in Thousands	Total	IPO	Common Stock	Common Stock IPO	Additional Paid-in Capital	Additional Paid-in Capital IPO	Accumulated Other Comprehensive Loss	Accumulated Deficit	Convertible Preferred Stock
Balance at Dec. 31, 2019	$ (65,357)				$ (43,172)			$ (22,185)
Temporary equity, balance, Shares at Dec. 31, 2019									37,267
Temporary equity, balance at Dec. 31, 2019									$ 134,720
Balance, Shares at Dec. 31, 2019			2,989
Issuance of common stock upon exercise of stock options, net of repurchases	16				16
Issuance of common stock upon exercise of stock options, net of repurchases, Shares			41
Vesting of early exercise options	14				14
Issuance of convertible preferred stock, net of issuance costs									$ 2,200
Issuance of convertible preferred stock, net of issuance costs, Shares									538
Stock-based compensation	449				449
Net loss	(6,085)							(6,085)
Balance at Mar. 31, 2020	(70,963)				(42,693)			(28,270)
Temporary equity, balance, Shares at Mar. 31, 2020									37,805
Temporary equity, balance at Mar. 31, 2020									$ 136,920
Balance, Shares at Mar. 31, 2020			3,030
Balance at Dec. 31, 2019	(65,357)				(43,172)			(22,185)
Temporary equity, balance, Shares at Dec. 31, 2019									37,267
Temporary equity, balance at Dec. 31, 2019									$ 134,720
Balance, Shares at Dec. 31, 2019			2,989
Reclassification of warrant liability to equity due to adjustment from preferred stock warrant to common stock warrant upon completion of initial public offering	120
Net loss	(16,641)
Balance at Jun. 30, 2020	330,296		$ 4		369,118			(38,826)
Balance, Shares at Jun. 30, 2020			37,527
Balance at Mar. 31, 2020	(70,963)				(42,693)			(28,270)
Temporary equity, balance, Shares at Mar. 31, 2020									37,805
Temporary equity, balance at Mar. 31, 2020									$ 136,920
Balance, Shares at Mar. 31, 2020			3,030
Vesting of early exercise options	34				34
Issuance of stock, net of issuance costs, Value		$ 274,054		$ 2		$ 274,052
Issuance of stock, net of issuance costs, Shares				16,560
Conversion of convertible preferred stock into common stock upon completion of initial public offering	136,920		$ 2		136,918				$ (136,920)
Conversion of convertible preferred stock into common stock upon completion of initial public offering, Shares			17,921						(37,805)
Reclassification of warrant liability to equity due to adjustment from preferred stock warrant to common stock warrant upon completion of initial public offering	120				120
Cashless exercise of common stock warrants, Shares			16
Stock-based compensation	687				687
Net loss	(10,556)							(10,556)
Balance at Jun. 30, 2020	330,296		$ 4		369,118			(38,826)
Balance, Shares at Jun. 30, 2020			37,527
Balance at Dec. 31, 2020	306,223		$ 4		372,764		$ (5)	(66,540)
Balance, Shares at Dec. 31, 2020			37,569
Issuance of common stock upon exercise of stock options	24				24
Issuance of common stock upon exercise of stock options, Shares			31
Vesting of early exercise options	10				10
Stock-based compensation	3,701				3,701
Net loss	(23,844)							(23,844)
Other comprehensive gain	2						2
Balance at Mar. 31, 2021	286,116		$ 4		376,499		(3)	(90,384)
Balance, Shares at Mar. 31, 2021			37,600
Balance at Dec. 31, 2020	$ 306,223		$ 4		372,764		(5)	(66,540)
Balance, Shares at Dec. 31, 2020			37,569
Issuance of common stock upon exercise of stock options, Shares	82
Reclassification of warrant liability to equity due to adjustment from preferred stock warrant to common stock warrant upon completion of initial public offering	$ 0
Net loss	(50,197)
Balance at Jun. 30, 2021	264,480		$ 4		381,213			(116,737)
Balance, Shares at Jun. 30, 2021			37,665
Balance at Mar. 31, 2021	286,116		$ 4		376,499		(3)	(90,384)
Balance, Shares at Mar. 31, 2021			37,600
Issuance of common stock upon exercise of stock options	98				98
Issuance of common stock upon exercise of stock options, Shares			51
Issuance of common stock under employee stock purchase plan	318		$ 14		318
Vesting of early exercise options	9				9
Stock-based compensation	4,289				4,289
Net loss	(26,353)							(26,353)
Other comprehensive gain	3						$ 3
Balance at Jun. 30, 2021	$ 264,480		$ 4		$ 381,213			$ (116,737)
Balance, Shares at Jun. 30, 2021			37,665