Stockholders' Equity (Deficit), Convertible Preferred Stock and Tranche Liability - Additional Information (Details) $ / shares in Units, $ in Thousands | Sep. 29, 2020shares | Sep. 28, 2020USD ($)$ / sharesshares | Sep. 16, 2020 | Jul. 28, 2020$ / sharesshares | Jul. 02, 2020USD ($)$ / sharesshares | Jun. 30, 2020USD ($)$ / sharesshares | Mar. 05, 2020shares | Mar. 04, 2020USD ($)$ / sharesshares | Aug. 31, 2020USD ($) | Jun. 30, 2021$ / sharesshares | Jun. 30, 2020USD ($)$ / shares | Jul. 31, 2020USD ($) | Jun. 30, 2021$ / sharesshares | Jun. 30, 2020USD ($)$ / shares | Dec. 31, 2020shares |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Common stock, shares authorized | | 200,000,000 | | 32,685,000 | | | | | | 200,000,000 | | | 200,000,000 | | 200,000,000 |
Convertible preferred stock, shares authorized | | | | 15,647,052 | | | | | | | | | | | |
Convertible preferred stock, shares authorized | | 10,000,000 | | | | | | | | 10,000,000 | | | 10,000,000 | | 10,000,000 |
Preferred stock, shares issued | | | | | | | | | | 0 | | | 0 | | 0 |
Preferred stock, shares outstanding | | | | | | | | | | 0 | | | 0 | | 0 |
Share issue price per share | $ / shares | | | | | | $ 7.52 | | | | | $ 7.52 | | | $ 7.52 | |
Stock issuance costs, including underwriters’ discounts and commissions | $ | | | | | | | | | | | | | | $ 263 | |
Proceeds from issuances of Series A convertible preferred stock | $ | | | | | | | | | | | | | | 18,600 | |
Preferred stock tranche liability | $ | | | | | | | | $ 1,100 | | | | | | | |
Non cash expenses due to remeasured fair value of tranche liability | $ | | | | | | $ 17,000 | | | | | $ (17,210) | | | (17,030) | |
Mile stone shares issued during the period | | | | | | 200,000 | | | | | | | | | |
Tranche liability amount reclassified to convertible preferred stock | $ | | | | | | $ 900 | | | | | $ 900 | | | $ 900 | |
Common Stock | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Shares issued during period | | | | | | | | | | 629,730 | | | 629,730 | | |
Conversion of stock, shares issued | | 17,047,378 | | | | | | | | | | | | | |
Conversion ratio | | 1.0895 | 1.0895 | | | | | | | | | | | | |
IPO | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Shares issued during period | | 7,869,566 | | | | | | | | | | | 9,050,000 | | |
Share issue price per share | $ / shares | | $ 20 | | | | | | | | $ 20 | | | $ 20 | | |
Gross proceeds from issuance of common stock | $ | | $ 181,000 | | | | | | | | | | | | | |
Stock issuance costs, including underwriters’ discounts and commissions | $ | | $ 15,100 | | | | | | | | | | | | | |
Underwriters' Option to Purchase Additional Shares | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Shares issued during period | 1,180,434 | 1,180,434 | | | | | | | | | | | | | |
Series A Convertible Preferred Stock | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Convertible preferred stock, shares authorized | | | | 10,000,000 | | | | | | | | | | | |
Number of share options exercised | | | | | 3,800,000 | 200,000 | | | | | | | | | |
Clinical milestones for gross proceeds | $ | | | | | $ 11,400 | $ 600 | | | | | | | | | |
Proceeds from issuances of Series A convertible preferred stock | $ | | | | | | | | | | | | $ 30,000 | | | |
Convertible preferred stock tranche liability, offering price | $ / shares | | | | | | | | $ 3 | | | | | | | |
Convertible preferred stock tranche liability, term | | | | | | | | 1 year | | | | | | | |
Milestone pro-rate shares issued during the period | | | | | | 200,000 | | | | | | | | | |
Series A Convertible Preferred Stock | Risk Free Rate | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Convertible preferred stock tranche liability, measurement input | | | | | | | | 0.0059 | | | | | | | |
Series A Convertible Preferred Stock | Expected Volatility | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Convertible preferred stock tranche liability, measurement input | | | | | | | | 0.80 | | | | | | | |
Series A Convertible Preferred Stock | Probability of Achieving Clinical Milestones and Timing | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Convertible preferred stock tranche liability, measurement input | | | | | | | | 0.60 | | | | | | | |
Series A Convertible Preferred Stock | PBM TGT Holdings, LLC | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Shares issued during period | | | | | | 3,266,667 | | | | | | | | | |
Series A Convertible Preferred Stock | Nolan Capital, LLC | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Shares issued during period | | | | | | 400,000 | | | | | | | | | |
Series A Convertible Preferred Stock | Private Placement | Series A Purchase Agreement | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Share issue price per share | $ / shares | | | | | | | | $ 3 | | | | | | | |
Series A Convertible Preferred Stock | Private Placement | Series A Purchase Agreement | Maximum | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Shares issued during period | | | | | | | | 10,000,000 | | | | | | | |
Series A Convertible Preferred Stock | Private Placement | Initial Closing | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Shares issued during period | | | | | | | | 6,000,000 | | | | | | | |
Series A Convertible Preferred Stock | Private Placement | Achievement of Specific Clinical Milestone One | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Shares issued during period | | | | | | | 2,000,000 | | | | | | | | |
Series A Convertible Preferred Stock | Private Placement | Achievement of Specific Clinical Milestone Two | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Shares issued during period | | | | | | | 2,000,000 | | | | | | | | |
Series A Convertible Preferred Stock | Private Placement | Upon Achievement of Certain Defined Clinical Milestones | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Shares issued during period | | | | | | | | 4,000,000 | | | | | | | |
Series B Convertible Preferred Stock | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Convertible preferred stock, shares authorized | | | | 5,647,052 | | | | | | | | | | | |
Proceeds from issuances of Series A convertible preferred stock | $ | | | | | | | | | $ 96,000 | | | | | | |
Convertible preferred stock tranche liability, offering price | $ / shares | | | | | | $ 17 | | | | | $ 17 | | | $ 17 | |
Convertible preferred stock tranche liability, term | | | | | | 6 months | | | | | | | | | |
Series B Convertible Preferred Stock | Risk Free Rate | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Convertible preferred stock tranche liability, measurement input | | | | | | 0.0017 | | | | | 0.0017 | | | 0.0017 | |
Series B Convertible Preferred Stock | Expected Volatility | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Convertible preferred stock tranche liability, measurement input | | | | | | 0.80 | | | | | 0.80 | | | 0.80 | |
Series B Convertible Preferred Stock | Series B Purchase Agreement | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Share issue price per share | $ / shares | | | | | $ 17 | | | | | | | | | | |
Series B Convertible Preferred Stock | Private Placement | Series B Purchase Agreement | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Shares issued during period | | | | 5,647,048 | | | | | | | | | | | |
Share issue price per share | $ / shares | | | | $ 17 | | | | | | | | | | | |
Proceeds from issuances of Series A convertible preferred stock | $ | | | | | | | | | $ 96,000 | | | | | | |
Series B Convertible Preferred Stock | Private Placement | Series B Purchase Agreement | Maximum | | | | | | | | | | | | | | | |
Class Of Stock [Line Items] | | | | | | | | | | | | | | | |
Shares issued during period | | | | 5,647,052 | | | | | | | | | | | |