Stockholders' Equity - Summary of Stock Option Activity (Details) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2021 USD ($) $ / shares shares	Dec. 31, 2020 USD ($) $ / shares shares
Number of Outstanding Options
Balance at December 31, 2020 | shares	3,136,076
Granted | shares	984,055
Exercised | shares	(466,811)
Cancelled | shares	(206,146)
Balance at June 30, 2021 | shares	3,447,174	3,136,076
Vested and expected to vest at June 30, 2021 | shares	3,447,174
Exercisable at June 30, 2021 | shares	1,020,384
Weighted Average Exercise Price
Balance at December 31, 2020 | $ / shares	$ 5.23
Granted | $ / shares	8.91
Exercised | $ / shares	2.27
Cancelled | $ / shares	6.53
Balance at June 30, 2021 | $ / shares	6.60	$ 5.23
Vested and expected to vest at June 30, 2021 | $ / shares	6.60
Exercisable at June 30, 2021 | $ / shares	$ 4.09
Weighted Average Remaining Contractual Term (In Years)
Balance	8 years 6 months 25 days	7 years 11 months 12 days
Vested and expected to vest at June 30, 2021	8 years 6 months 25 days
Exercisable at June 30, 2021	7 years 5 months 4 days
Aggregate Intrinsic Value
Balance | $	$ 947	$ 8,963
Vested and expected to vest at June 30, 2021 | $	947
Exercisable at June 30, 2021 | $	$ 758