Debt - Convertible Notes - Additional Information (Details) - USD ($)			1 Months Ended		12 Months Ended
	Oct. 20, 2021	Sep. 03, 2021	May 31, 2020	Dec. 31, 2019	Dec. 31, 2021	Dec. 31, 2020	Oct. 21, 2021	Nov. 30, 2019	May 31, 2019	Dec. 31, 2018	Mar. 31, 2018
Debt Instrument [Line Items]
Gain (loss) on extinguishment of debt					$ (21,295,000)
Aggregate outstanding principal and accrued interest of convertible promissory notes						$ 0
Redeemable convertible preferred stock converted	19,404,066						12,397,838
Amortization of debt premium and discount					1,300,000	1,400,000
Interest expense					$ 11,728,000	12,140,000
Redeemable Convertible Preferred Stock
Debt Instrument [Line Items]
Conversion of preferred stock	7,006,228
Conversion price per share	$ 11.31
Maximum
Debt Instrument [Line Items]
Offering price per share					$ 5.61
Second Lien Loan and Security Agreements
Debt Instrument [Line Items]
Amount borrowed				$ 21,000,000.0		15,000,000.0				$ 29,200,000
2018 Note Agreements
Debt Instrument [Line Items]
Convertible notes										$ 10,000,000.0
Accrue interest fixed rate					8.00%
2018 Note Agreements | Maximum
Debt Instrument [Line Items]
Convertible notes											$ 20,000,000.0
2019 Note Agreements
Debt Instrument [Line Items]
Accrue interest fixed rate					8.00%
2019 Note Agreements | Maximum
Debt Instrument [Line Items]
Convertible notes								$ 10,500,000	$ 10,500,000
Amendment
Debt Instrument [Line Items]
Debt instrument extended maturity period				2023-06
2020 Note Agreement
Debt Instrument [Line Items]
Debt instrument, maturity date			Jun. 30, 2023
Accrue interest fixed rate					8.00%
2020 Note Agreement | Maximum
Debt Instrument [Line Items]
Convertible notes			$ 30,000,000.0
Amended 2018 Note Agreements, 2019 Note Agreements, and 2020 Note Agreement
Debt Instrument [Line Items]
Gain (loss) on extinguishment of debt					$ (16,900,000)
Debt instrument, maturity date		Dec. 31, 2026
Debt instrument, convertible, terms of conversion feature					to add automatic conversion of these convertible notes’ outstanding principal and accrued interest into shares of common stock if either (i) the offering price per share of our IPO is greater than $5.61 and the aggregate gross proceeds to the Company from the IPO are greater than $50.0 million or (ii) the Company receives a written request from the holders of at least 66 2/3% of the redeemable convertible preferred stock to convert all outstanding redeemable convertible preferred stock to common stock.
Amended 2018 Note Agreements, 2019 Note Agreements, and 2020 Note Agreement | Minimum
Debt Instrument [Line Items]
Offering price per share		$ 5.61
Gross proceeds from offering		$ 50,000,000.0
Convertible Notes
Debt Instrument [Line Items]
Interest expense					$ 6,300,000	6,500,000
Accrued interest						$ 5,100,000
Convertible Notes | Maximum
Debt Instrument [Line Items]
Debt instrument effective interest rate					6.20%	31.00%
Convertible Notes | Minimum
Debt Instrument [Line Items]
Debt instrument effective interest rate					5.00%	9.00%
Convertible Promissory Notes
Debt Instrument [Line Items]
Aggregate outstanding principal and accrued interest of convertible promissory notes	$ 79,200,000
Unamortized premium	$ 10,100,000
Estimated fair value of aggregate outstanding derivative instrument						$ 33,500,000
Accrued interest						$ 5,134,000
2020 Note Agreements
Debt Instrument [Line Items]
Deferred payment obligations additional amount to be drawn retained							$ 15,000,000.0