General form of registration statement for all companies including face-amount certificate companies

Stock-Based Compensation - Summary of Stock Option Activity (Detail)

v3.21.2
Stock-Based Compensation - Summary of Stock Option Activity (Detail) - 2012 Equity Incentive Plan [Member] - $ / shares
 6 Months Ended 12 Months Ended
Jun. 30, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Payment Arrangement, Employee [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of Options outstanding at January 1, 2021 10,537,623 8,066,814 7,093,394  
Number of Options Granted 2,296,277 3,683,015 1,679,342  
Number of Options Exercised 257,830 36,055 20,224  
Number of Options Forfeited, canceled, or expired 201,739 1,176,151 685,698  
Number of Options Options outstanding at June 30, 2021 12,374,331 10,537,623 8,066,814 7,093,394
Number of Options Vested and expected to vest at June 30, 2021 11,027,381 9,040,826    
Number of Options Exercisable at June 30, 2021 5,477,466 4,510,574    
Weighted- Average Exercise Price Options outstanding at January 1, 2021 $ 3.27 $ 2.86 $ 2.67  
Weighted- Average Exercise Price Granted 8,310 3.94 3.50  
Weighted- Average Exercise Price Exercised 2,280 2.08 1.80  
Weighted- Average Exercise Price Forfeited, canceled, or expired 4,710 2.55 2.56  
Weighted- Average Exercise Price Options outstanding at June 30, 2021 4,210 3.27 $ 2.86 $ 2.67
Weighted- Average Exercise Price Vested and expected to vest at June 30, 2021 4,110 3.21    
Weighted- Average Exercise Price Exercisable at June 30, 2021 $ 3,170 $ 2.70    
Weighted- Average Remaining Contractual Term Options outstanding 7 years 9 months 18 days 7 years 10 months 24 days 7 years 9 months 18 days 7 years 10 months 24 days
Weighted- Average Remaining Contractual Term Vested and expected to vest at June 30, 2021 7 years 8 months 12 days 7 years 8 months 12 days    
Weighted- Average Remaining Contractual Term Exercisable at June 30, 2021 6 years 4 months 24 days 6 years 3 months 18 days    
Share-based Payment Arrangement, Nonemployee [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of Options outstanding at January 1, 2021 225,067 215,067 235,067  
Number of Options Granted 0 10,000 0  
Number of Options Exercised 76,667   3,125  
Number of Options Forfeited, canceled, or expired 103,400   16,875  
Number of Options Options outstanding at June 30, 2021 45,000 225,067 215,067 235,067
Number of Options Vested and expected to vest at June 30, 2021 52,897 224,673    
Number of Options Exercisable at June 30, 2021 50,083 219,650    
Weighted- Average Exercise Price Options outstanding at January 1, 2021 $ 1.31 $ 1.20 $ 1.39  
Weighted- Average Exercise Price Granted   3.57    
Weighted- Average Exercise Price Exercised 1.15   3.38  
Weighted- Average Exercise Price Forfeited, canceled, or expired 0.76   3.38  
Weighted- Average Exercise Price Options outstanding at June 30, 2021 2.83 1.31 $ 1.20 $ 1.39
Weighted- Average Exercise Price Vested and expected to vest at June 30, 2021 2.67 1.30    
Weighted- Average Exercise Price Exercisable at June 30, 2021 $ 2.62 $ 1.25    
Weighted- Average Remaining Contractual Term Options outstanding 6 years 4 months 24 days 4 years 6 months 5 years 3 months 18 days 6 years 7 months 6 days
Weighted- Average Remaining Contractual Term Vested and expected to vest at June 30, 2021 5 years 6 months 4 years 6 months    
Weighted- Average Remaining Contractual Term Exercisable at June 30, 2021 5 years 3 months 18 days 4 years 4 months 24 days