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Debt - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended
Mar. 19, 2021
Apr. 30, 2020
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Feb. 28, 2018
Debt Instrument [Line Items]            
Estimated air value of warrants issued     $ 300,000      
Loss on debt extinguishment     (728,000)      
Cash paid for interest     600,000 $ 100,000    
2021 Term Loan            
Debt Instrument [Line Items]            
Notes/Loan payable $ 30,000,000   $ 30,000,000      
Debt instrument frequency of periodic payment monthly          
Revenue milestone $ 65,000,000          
Debt instrument description     The 2021 Term Loan provides for an “interest-only” period from the Effective Date through February 28, 2023, with interest due and payable monthly on the first calendar day of each month, provided however, if the Company achieves a revenue milestone of at least $65 million on a trailing twelve-month basis as of the end of any calendar month ending on or prior to September 30, 2022, the interest-only period shall automatically be extended through February 28, 2024. Beginning on the first calendar day of the month following the end of the interest-only period, the 2021 Term Loan shall be payable in (i) consecutive equal installments of principal through March 1, 2026, plus (ii) monthly payments of accrued interest. The principal amount outstanding under the 2021 Term Loan shall accrue interest at a floating per annum rate equal to the greater of (i) 2.00% above the prime rate, or (ii) 5.25%, which interest, in each case, shall be payable monthly. Changes to the interest rate applicable to the 2021 Loan based on changes to the prime rate shall be effective on the effective date of any change to the prime rate.      
Debt instrument maturity date Mar. 01, 2026          
Repayments of Debt $ 2,400,000          
Debt instrument, covenant description     The 2021 Term Loan requires the Company to comply with a minimum liquidity ratio covenant (as defined) by the 2021 Term Loan of not less than 0.95 to 1.00, and has a trailing six month rolling minimum revenue requirement of not less than 70% of the Company’s projected revenue for each such quarter.      
Loan principle amount $ 30,000,000   $ 30,000,000      
2021 Term Loan | Prior to First Anniversary            
Debt Instrument [Line Items]            
Debt instrument, prepayment penalty 3.00%          
2021 Term Loan | Prior to Second Anniversary            
Debt Instrument [Line Items]            
Debt instrument, prepayment penalty 2.00%          
2021 Term Loan | After Second Anniversary, Prior to October 19, 2025            
Debt Instrument [Line Items]            
Debt instrument, prepayment penalty 1.00%          
2021 Term Loan | Thereafter            
Debt Instrument [Line Items]            
Debt instrument, prepayment penalty 0.00%          
2021 Term Loan | Maximum            
Debt Instrument [Line Items]            
Minimum liquidity ratio covenant 0.95          
Percentage of minimum revenue requirement 70.00%          
2018 Notes            
Debt Instrument [Line Items]            
Notes/Loan payable         $ 24,972,000 $ 23,000,000.0
Repayments of Debt $ 25,900,000          
Facility fee amount           200,000
Estimated air value of warrants issued           $ 300,000
Interest rate           10.00%
Percentage of interest rate, paid in cash           7.50%
Percentage of interest rate added to principal value of notes payable           2.50%
Interest added to principal value         1,700,000  
Loss on debt extinguishment     $ 700,000      
Loan principle amount         24,972,000 $ 23,000,000.0
2018 Notes | Series G Preferred Stock            
Debt Instrument [Line Items]            
Warrant issued to purchase shares     613,333     613,333
PPP Loan            
Debt Instrument [Line Items]            
Debt instrument description     The PPP Loan matures on the two-year anniversary of the funding date, April 2022, and bears interest at a fixed rate of 1.00% per annum. Monthly principal and interest payments, less the amount of any potential forgiveness (as discussed below), will commence in September 2021. The Company did not provide any collateral or guarantees in connection with the PPP Loan, nor did the Company pay any facility charge to obtain the PPP Loan.      
PPP Loan | Interest-bearing Deposits            
Debt Instrument [Line Items]            
Interest rate   1.00%        
PPP Loan | CARES Act            
Debt Instrument [Line Items]            
Notes/Loan payable   $ 3,100,000 $ 3,125,000   3,107,000  
Loan principle amount   $ 3,100,000 $ 3,125,000   $ 3,107,000  
Percentage for non-payroll costs   40.00%        
Upper limit of employee salary to reduce forgiveness   $ 100,000        
Percentage of upper limit of employee salary to reduce forgiveness   25.00%        
PPP Loan | Minimum | CARES Act            
Debt Instrument [Line Items]            
Payroll costs excludes compensation of an employee   $ 100,000