Convertible and Other Debt - Additional Information (Details) - USD ($)	3 Months Ended		9 Months Ended		54 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020	May 31, 2020
Debt Instrument [Line Items]
Debt description			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.
Debt Instrument, Decrease, Forgiveness			$ 700,000
Interest Expense	$ 0	$ 86,000	3,000	$ 1,387,000
Debt Instrument Outstanding Principal Amount	$ 700,000		$ 700,000
Convertible Promissory Notes [Member]
Debt Instrument [Line Items]
Debt Instrument, Face Amount					$ 21,800,000
Debt Instrument, Interest Rate, Stated Percentage	8.00%		8.00%
Related Party Transaction, Amounts of Transaction					$ 2,000,000.0
Debt Instrument, Maturity Date, Description			five years after issuance
Outstanding Debt [Member]
Debt Instrument [Line Items]
Interest Expense	$ 0	$ 100,000	$ 3,000	$ 1,400,000