Commitments and Contingencies - Narrative (Details)	3 Months Ended	9 Months Ended
	Sep. 30, 2021 USD ($)	Sep. 30, 2021 USD ($)	Sep. 30, 2020 USD ($)	Aug. 31, 2021 ft² renewal_option	Dec. 31, 2020 USD ($)
Other Commitments [Line Items]
Operating lease, term of written notice for termination		six months
Rent expense	$ 300,000		$ 900,000
Purchase commitments related to inventory management and training materials	1,300,000	$ 1,300,000			$ 300,000
New lease, area (in square feet) | ft²				19,534
Lease renewal, number of options to renew | renewal_option				1
Optional lease renewal term				3 years
Indemnification Agreement
Other Commitments [Line Items]
Costs to defend lawsuits or settle claims		0
Liability associated with indemnifications	$ 0	$ 0