Description of Business and Summary of Significant Accounting Policies - Other income (expense), net (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Description of Business and Summary of Significant Accounting Policies
Loss on remeasurement of debt		$ (958)		$ (1,412)
Loss on remeasurement of legacy preferred stock warrant liability		(920)		(1,999)
Other, net		37
Other, net	$ (165)		$ (91)	(57)
Total other income (expense), net	$ (165)	$ (1,841)	$ (91)	$ (3,468)