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Debt - Narrative (Details)
1 Months Ended 9 Months Ended
Sep. 24, 2019
USD ($)
May 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Nov. 30, 2020
USD ($)
installment
Sep. 30, 2020
USD ($)
Aug. 31, 2020
USD ($)
installment
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Debt Instrument [Line Items]                
Proceeds from 2024 Notes             $ 0 $ 10,000,000
Issuance of preferred stock, maximum value allowed     $ 125,000,000   $ 100,000,000      
Mandatory prepayment trigger, excess cash flow (in percentage)             0.50  
Number of installments | installment       10   10    
Gain on forgiveness of PPP loan             $ 171,000 0
2024 Notes                
Debt Instrument [Line Items]                
Proceeds from 2024 Notes $ 35,000,000         $ 10,000,000    
Issuance of preferred stock, maximum value allowed           $ 50,000,000    
Effective weighted average annual interest rate             14.25%  
Debt instrument, increase in principal amount               $ 3,500,000
Insurance Premium Financing                
Debt Instrument [Line Items]                
Effective weighted average annual interest rate       4.95%   8.25%    
Principal amount of debt       $ 3,000,000   $ 300,000    
Debt down payment       $ 800,000   $ 100,000    
Debt outstanding             $ 0  
PPP Loan                
Debt Instrument [Line Items]                
Debt forgiven   $ 200,000            
Gain on forgiveness of PPP loan             $ 200,000