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

Stock Option Plan and Stock-Based Compensation - Stock-Based Compensation Expense (Details)

v3.21.2
Stock Option Plan and Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($)
$ in Thousands
 6 Months Ended 12 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Stock-based compensation expense $ 1,075 $ 777 $ 1,455 $ 1,472
Unrecognized compensation cost $ 4,700   $ 2,800  
Unrecognized compensation cost, period for recognition 2 years 8 months 19 days   2 years 6 months 25 days  
Research and development        
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Stock-based compensation expense $ 387 382 $ 728 769
Selling and marketing        
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Stock-based compensation expense 174 213 373 304
General and administrative        
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Stock-based compensation expense $ 514 $ 182 $ 354 $ 399