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Equity Incentive Plan - Summary of Assumptions Used to Estimate Fair Value of Stock Options (Details) - $ / shares
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Expected dividend yield     0.00%  
Stock Options        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Estimated fair value of common stock $ 17.00 $ 0.73 $ 17.00 $ 0.73
Expected term (in years)   6 years 18 days 5 years 11 months 8 days 6 years 18 days
Risk-free interest rate 0.00% 0.40% 0.60% 0.40%
Volatility 0.00% 43.30% 46.90% 43.30%