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Stockholders'/Members' Equity (Deficit) - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Outstanding, Beginning Balance, Weighted-Average Exercise Price per Share $ 18.00  
Outstanding, Ending Balance, Weighted-Average Exercise Price per Share | $ / shares   $ 18.00
Outstanding, Weighted-Average Remaining Contractual Term (years) 9 years 5 months 23 days 9 years 11 months 12 days
Vested and expected to vest, Weighted-Average Remaining Contractual Term (years) 9 years 5 months 23 days  
Exercisable, Weighted-Average Remaining Contractual Term (years) 1 month 28 days  
Exercisable, Aggregate Intrinsic $ 189  
Stock Option [Member]    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock Options Outstanding, Beginning Balance, Number of Shares 615,106  
Granted, Number of Shares 235,043  
Stock Options Outstanding, Ending Balance, Number of Shares 850,149 615,106
Vested and expected to vest, Number of Shares 850,149  
Exercisable, Number of Shares 7,747  
Granted, Weighted-Average Exercise Price per Share $ 44.57  
Outstanding, Ending Balance, Weighted-Average Exercise Price per Share | $ / shares 25.35  
Vested and expected to vest, Weighted-Average Exercise Price per Share 25.35  
Exercisable, Weighted-Average Exercise Price per Share $ 18.00  
Outstanding, Aggregate Intrinsic Value at Dec 31,2020 $ 9,848  
Outstanding, Aggregate Intrinsic Value at June 31,2021 15,199 $ 9,848
Vested and expected to vest, Aggregate Intrinsic Value $ 15,199