Convertible and Other Debt	6 Months Ended
Jun. 30, 2021
Debt Disclosure [Abstract]
Convertible and Other Debt	4. Convertible and Other Debt The Company issued convertible promissory notes between December 2015 and May 2020 totaling $21.8 million, of which $2.0 million was with related parties. The convertible promissory notes accrued interest at 8% per annum with maturity dates of five years after issuance. The convertible promissory notes were settled in connection with the Company’s Series D financing in July 2020. As of June 30, 2021, the Company had $0.7 million outstanding under a promissory note issued pursuant to the Paycheck Protection Program (“PPP”) of the CARES Act. On July 2, 2021, the Company received notice from its lender that the U.S. Small Business Administration ("SBA") had approved the Company's application for forgiveness and that there was no remaining balance on the PPP Loan. The Company expects to record the forgiveness as other income in July 2021. For the three and six months ended June 30, 2021, the Company recognized interest expense related to its outstanding debt of $1,000 and $3,000, respectively. For the three and six months ended June 30, 2020, the Company recognized interest expense related to its outstanding debt of $0.8 million and $1.3 million, respectively.

Convertible and Other Debt

6 Months Ended

Jun. 30, 2021

4. Convertible and Other Debt

The Company issued convertible promissory notes between December 2015 and May 2020 totaling $21.8 million, of which $2.0 million was with related parties. The convertible promissory notes accrued interest at 8% per annum with maturity dates of five years after issuance. The convertible promissory notes were settled in connection with the Company’s Series D financing in July 2020. As of June 30, 2021, the Company had $0.7 million outstanding under a promissory note issued pursuant to the Paycheck Protection Program (“PPP”) of the CARES Act. On July 2, 2021, the Company received notice from its lender that the U.S. Small Business Administration ("SBA") had approved the Company's application for forgiveness and that there was no remaining balance on the PPP Loan. The Company expects to record the forgiveness as other income in July 2021. For the three and six months ended June 30, 2021, the Company recognized interest expense related to its outstanding debt of $1,000 and $3,000, respectively. For the three and six months ended June 30, 2020, the Company recognized interest expense related to its outstanding debt of $0.8 million and $1.3 million, respectively.