Loss Per Share - Schedule of Basic and Diluted Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2021	Mar. 31, 2021	Jun. 30, 2020	Mar. 31, 2020	Jun. 30, 2021	Jun. 30, 2020
Numerator:
Net loss	$ (22,580)	$ (20,971)	$ (10,793)	$ (11,912)	$ (43,551)	$ (22,705)
Accrual of preferred stock dividends			(2,908)			(5,019)
Net loss attributable to common stockholders	$ (22,580)		$ (13,701)		$ (43,551)	$ (27,724)
Denominator:
Weighted-average number of shares used in computed net loss per share − basic and diluted	43,855,420		1,476,378		43,472,327	1,469,571
Net loss per share attributable to common stockholders − basic and diluted	$ (0.51)		$ (9.28)		$ (1.00)	$ (18.87)