Fair Value Measurements - Schedule of assets and liabilities measured at fair value on recurring basis and the fair value hierarchy of the valuation techniques (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Assets:
Total assets at fair value	$ 165,353	$ 66,803
Liability:
Total liabilities at fair value		(8,846)
Common stock warrant liability [Member]
Liability:
Total liabilities at fair value		(5,018)
Redeemable convertible preferred stock warrant liability [Member]
Liability:
Total liabilities at fair value		(3,828)
Money market Securities [Member]
Assets:
Total assets at fair value	65,368	11,822
Government Securities [Member]
Assets:
Total assets at fair value	99,985	54,981
Level I [Member]
Assets:
Total assets at fair value	65,368	11,822
Liability:
Total liabilities at fair value		0
Level I [Member] | Common stock warrant liability [Member]
Liability:
Total liabilities at fair value		0
Level I [Member] | Redeemable convertible preferred stock warrant liability [Member]
Liability:
Total liabilities at fair value		0
Level I [Member] | Money market Securities [Member]
Assets:
Total assets at fair value	65,368	11,822
Level I [Member] | Government Securities [Member]
Assets:
Total assets at fair value	0	0
Level II [Member]
Assets:
Total assets at fair value	99,985	54,981
Liability:
Total liabilities at fair value		0
Level II [Member] | Common stock warrant liability [Member]
Liability:
Total liabilities at fair value		0
Level II [Member] | Redeemable convertible preferred stock warrant liability [Member]
Liability:
Total liabilities at fair value		0
Level II [Member] | Money market Securities [Member]
Assets:
Total assets at fair value	0	0
Level II [Member] | Government Securities [Member]
Assets:
Total assets at fair value	99,985	54,981
Level III [Member]
Assets:
Total assets at fair value	0	0
Liability:
Total liabilities at fair value		(8,846)
Level III [Member] | Common stock warrant liability [Member]
Liability:
Total liabilities at fair value		(5,018)
Level III [Member] | Redeemable convertible preferred stock warrant liability [Member]
Liability:
Total liabilities at fair value		(3,828)
Level III [Member] | Money market Securities [Member]
Assets:
Total assets at fair value	0	0
Level III [Member] | Government Securities [Member]
Assets:
Total assets at fair value	$ 0	$ 0