Summary of Significant Accounting Policies - Narrative (Details) $ / shares in Units, $ in Thousands	1 Months Ended		2 Months Ended	3 Months Ended						9 Months Ended
	Sep. 30, 2021 USD ($) $ / shares shares	Jun. 30, 2021 USD ($) $ / shares	Aug. 31, 2020 USD ($)	Sep. 30, 2021 USD ($) $ / shares shares	Jun. 30, 2021 USD ($) $ / shares	Mar. 31, 2021 USD ($)	Sep. 30, 2020 USD ($)	Jun. 30, 2020 USD ($)	Mar. 31, 2020 USD ($)	Sep. 30, 2021 USD ($) $ / shares shares	May 31, 2021 $ / shares	Dec. 31, 2020 USD ($) $ / shares shares	Jan. 01, 2020 USD ($)
Subsidiary, Sale of Stock [Line Items]
Reverse stock split, conversion ratio	0.2105263158
Share price (in dollars per share) | $ / shares	$ 25.00			$ 25.00						$ 25.00
Payments for underwriting discount and commissions	$ 13,200
Payments of stock issuance costs	$ 2,900	$ 290	$ 496	$ 16,076
Convertible preferred stock, shares, number of shares issued upon conversion (in shares) | shares	29,912,264			29,912,264						29,912,264
Conversion of redeemable convertible preferred stock to common stock upon initial public offering				$ 329,534			$ 9,520
Common stock, par value (in dollars per share) | $ / shares	$ 0.00001			$ 0.00001						$ 0.00001		$ 0.00001
Deferred offering costs	$ 0			$ 0						$ 0		$ 0
Product warranty period (in years)										1 year
Service agreement, amortization period										1 year
Operating lease right-of-use assets, net	3,667			3,667						$ 3,667		4,641
Present value of future payments	$ 4,582			4,582						$ 4,582		$ 5,804
Issuance upon exercise of options				$ 855	$ 1,415	$ 1,225	51	$ 979	$ 1,024
Common stock, shares authorized (in shares) | shares	300,000,000			300,000,000						300,000,000		40,000,000
Preferred Stock, shares authorized (in shares) | shares	10,000,000			10,000,000						10,000,000		0
Additional Paid-in Capital
Subsidiary, Sale of Stock [Line Items]
Conversion of redeemable convertible preferred stock to common stock upon initial public offering				$ 329,534			9,520
Issuance upon exercise of options				$ 855	$ 1,415	$ 1,225	$ 51	$ 979	$ 1,024
Accounting Standards Update 2016-02
Subsidiary, Sale of Stock [Line Items]
Operating lease right-of-use assets, net													$ 6,000
Present value of future payments													7,400
Contract with Customer, Liability													$ 1,400
Minimum
Subsidiary, Sale of Stock [Line Items]
Useful life (in years)										3 years
Maximum
Subsidiary, Sale of Stock [Line Items]
Useful life (in years)										5 years
Common Stock
Subsidiary, Sale of Stock [Line Items]
Common stock, par value (in dollars per share) | $ / shares		$ 0.00001			$ 0.00001						$ 0.001
Common Stock | IPO
Subsidiary, Sale of Stock [Line Items]
Sale of stock, number of shares issued in transaction (in shares) | shares	6,556,000
Sale of stock, consideration received on transaction	$ 172,400
Common Stock | Over-Allotment Option
Subsidiary, Sale of Stock [Line Items]
Sale of stock, number of shares issued in transaction (in shares) | shares	983,400