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Debt - Narrative (Details)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended
Mar. 26, 2021
USD ($)
Aug. 05, 2019
USD ($)
shares
Nov. 27, 2018
USD ($)
$ / shares
shares
Jan. 31, 2021
USD ($)
Sep. 30, 2021
USD ($)
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Dec. 31, 2020
USD ($)
Debt Instrument [Line Items]                
Warrants, loss (gain) from fair value adjustment           $ 406 $ 6,097  
Runway Loan and Security Agreement | Secured Debt                
Debt Instrument [Line Items]                
Debt instrument, maximum borrowing capacity     $ 10,000          
Effective interest rate         16.40% 16.40% 16.40%  
Value of stock called by warrant, percentage of debt face amount     0.040          
Debt instrument, face amount     $ 10,000          
Fair value of warrant accounted for as debt discount     $ 100          
Repayments of debt $ 7,000              
Payment of interest and fee upon extinguishment of debt $ 400              
Debt, outstanding balance         $ 0 $ 0   $ 7,000
Promissory Note | Notes Payable, Other Payables | Investor                
Debt Instrument [Line Items]                
Basis spread on variable rate       8.50%        
Promissory notes, outstanding balance       $ 5,000        
Series A Redeemable Convertible Preferred Stock Warrants                
Debt Instrument [Line Items]                
Warrants issued, number of preferred stock callable (in shares) | shares   53,023 35,348          
Warrants issued, exercise price (in dollars per share) | $ / shares     $ 11.3518          
Warrants, loss (gain) from fair value adjustment   $ 100            
Series A Redeemable Convertible Preferred Stock Warrants | Other Income (Expense), Net                
Debt Instrument [Line Items]                
Warrants, loss (gain) from fair value adjustment         $ 600 $ 600 $ (200)  
London Interbank Offered Rate (LIBOR) | Runway Loan and Security Agreement | Secured Debt                
Debt Instrument [Line Items]                
Basis spread on variable rate     8.50%          
Prime Rate | LIBOR Rate Not Available or Applicable | Runway Loan and Security Agreement | Secured Debt                
Debt Instrument [Line Items]                
Basis spread on variable rate     6.00%          
Applicable Interest Rate at the Time of Default | In the Event of Debt Default | Runway Loan and Security Agreement | Secured Debt                
Debt Instrument [Line Items]                
Basis spread on variable rate           5.00%