Fair Value of Financial Assets and Liabilities -Aggregate Fair Value of Warrant and Derivative Liabilities (Details) - Level 3 - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Preferred Stock Warrant Liability
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]
Beginning balance	$ 0	$ 4,947
Fair Value, Measurement with Unobservable Inputs Reconciliation, Recurring Basis, Liability, Period Increase (Decrease)	0	288
Fair Value Measurement With Unobservable Inputs Conversion Of Convertible Preferred Stock Warrants Into Common Stock Warrants In Connection With Merger		(5,235)
Ending balance	0	0
Embedded derivative liability
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]
Beginning balance	18	201
Fair Value, Measurement with Unobservable Inputs Reconciliation, Recurring Basis, Liability, Period Increase (Decrease)	437	(183)
Fair Value Measurement With Unobservable Inputs Conversion Of Convertible Preferred Stock Warrants Into Common Stock Warrants In Connection With Merger		0
Ending balance	$ 455	$ 18