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Borrowings - Narrative (Details) - USD ($)
$ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended
Aug. 12, 2021
May 29, 2020
Oct. 31, 2017
Sep. 30, 2021
Mar. 31, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Debt Instrument [Line Items]                  
Proceeds from debt financing             $ 35,000 $ 45,297  
Payments of prepayment penalty and lender fees             508 $ 843  
Final fee       $ 671     671   $ 884
Accrued liabilities and other       1,000     1,000   1,000
Accrued liabilities                  
Debt Instrument [Line Items]                  
Accrued liabilities and other       500     500   500
Other long-term liabilities                  
Debt Instrument [Line Items]                  
Accrued liabilities and other       $ 500     $ 500   $ 500
Term loan | Pharmakon Term Loan                  
Debt Instrument [Line Items]                  
Proceeds from debt financing     $ 40,000            
Debt period payment, interest only period     35 months            
Fixed interest rate (percent)     11.50%            
Effective interest rate during the period (percent)           11.60%   11.60%  
Term loan | Pharmakon Term Loan | Prepayment Penalty, 31-48 Months                  
Debt Instrument [Line Items]                  
Debt prepayment penalty percentage (percent)     2.00%            
Term loan | Pharmakon Term Loan | Prepayment Penalty, 49-60 Months                  
Debt Instrument [Line Items]                  
Debt prepayment penalty percentage (percent)     1.00%            
Term loan | Solar Term Loan                  
Debt Instrument [Line Items]                  
Debt period payment, interest only period   36 months              
Fixed interest rate (percent)   9.40%              
Aggregate principal amount   $ 40,000              
Debt issuance costs   800              
Unamortized debt issuance costs         $ 700        
Payments of prepayment penalty and lender fees         $ 800        
Allowable prepayment increments per agreement   $ 10,000              
Prepayment premium in year one (percent)   3.00%              
Prepayment premium in year two (percent)   1.25%              
Prepayment premium in year three or later (percent)   0.50%              
Final fee   $ 1,000              
Final fee as percentage of aggregate principal amount (percent)   2.50%              
Effective interest rate during the period (percent)       8.50%   10.80% 8.50% 10.80%  
Term loan | Solar Term Loan | Basis spread option                  
Debt Instrument [Line Items]                  
Basis spread on variable rate   0.33%              
Term loan | SVB Term Loan                  
Debt Instrument [Line Items]                  
Fixed interest rate (percent) 5.75%                
Aggregate principal amount $ 35,000                
Debt issuance costs 100                
Unamortized debt issuance costs       $ 1,300     $ 1,300    
Payments of prepayment penalty and lender fees       $ 500     $ 500    
Final fee $ 700                
Final fee as percentage of aggregate principal amount (percent) 2.00%                
Effective interest rate during the period (percent)       8.50%     8.50%    
Term loan | SVB Term Loan | Prepayment Penalty, 1-24 Months                  
Debt Instrument [Line Items]                  
Debt prepayment penalty percentage (percent) 1.00%                
Term loan | SVB Term Loan | Prepayment Penalty, 24 Months On                  
Debt Instrument [Line Items]                  
Debt prepayment penalty percentage (percent) 0.00%                
Term loan | SVB Term Loan | Prime Rate [Member]                  
Debt Instrument [Line Items]                  
Basis spread on variable rate 2.50%