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Net Loss Per Share - Schedule of Earnings Per Share, Basic and Diluted (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Numerator:                
Net loss $ (19,590) $ (4,493) $ (12,106) $ (26,802) $ (8,392) $ (7,914) $ (36,189) $ (43,108)
Net loss attributable to common stockholders – basic and diluted $ (19,590)     $ (26,802)     $ (36,189) $ (43,108)
Denominator:                
Weighted average common shares, basic and diluted 70,160,663     35,069,988     53,397,557 29,176,082
Net loss per share attributable to common stockholders – basic and diluted $ (0.28)     $ (0.76)     $ (0.68) $ (1.48)