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Net Loss Per Share - Summary of Potentially Dilutive Shares Excluded from Computation of Net Loss Per Share (Details) - shares
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Convertible Preferred Stock [Member]        
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]        
Potentially dilutive securities excluded from computation of Net loss per share 0 110,627,174 0 110,627,174
Unvested RSAs and RSUs [Member]        
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]        
Potentially dilutive securities excluded from computation of Net loss per share 711,522 316,718 376,177 456,506
Employee Stock Option [Member]        
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]        
Potentially dilutive securities excluded from computation of Net loss per share 8,381,346 5,754,614 8,189,747 5,842,205