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Fair Value Measurements - Estimated fair value of Level 3 (Details) - Level 3 - Recurring
$ in Thousands
6 Months Ended
Jun. 30, 2021
USD ($)
Warrant liability  
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]  
Beginning fair value of Level 3 liability $ 179
Additions 1,462
Exercises (1,775)
Change in fair value 141
Ending fair value of level 3 liability 7
Streeterville Note  
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]  
Additions 6,000
Change in fair value 933
Ending fair value of level 3 liability $ 6,933