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Loan Payable - Narrative (Details) - USD ($)
$ in Thousands
1 Months Ended 3 Months Ended 6 Months Ended 9 Months Ended
Mar. 01, 2021
Feb. 22, 2021
Mar. 09, 2020
Feb. 28, 2021
Dec. 31, 2020
Mar. 31, 2020
Sep. 30, 2021
Sep. 01, 2020
Sep. 30, 2021
Sep. 30, 2020
Jul. 15, 2021
Jun. 30, 2021
Short-term Debt [Line Items]                        
Proceeds from short-term borrowings                 $ 25,000 $ 2,458    
Estimated fair value of warrants         $ 3,206   $ 33,254   33,254   $ 30,500  
Term Loan                        
Short-term Debt [Line Items]                        
Initial borrowing capacity   $ 40,000   $ 40,000                
Interest rate   12.00%                    
Proceeds from short-term borrowings $ 25,000     $ 25,000                
Amount no longer available for borrowing   $ 15,000                    
Debt term   1 year                    
Estimated fair value of warrants   $ 15,600                    
Unamortized debt issuance costs   100                    
Interest expense amortization             $ 3,600   $ 6,900      
Unamortized debt discount   $ 15,800                    
Percentage of debt discount in excess of initial face value   63.00%                    
Calculated effective interest rate   125.97%                    
Term Loan | Minimum                        
Short-term Debt [Line Items]                        
Debt term   1 year                    
Term Loan | Maximum                        
Short-term Debt [Line Items]                        
Debt term   2 years                    
Term Loan | Stock Purchase Warrants                        
Short-term Debt [Line Items]                        
Percentage of preferred stock available to be called   1.00%   1.00%                
Preferred stock available to be called, percentage earned       80.00%     80.00%   80.00%      
Preferred stock available to be called, percentage forfeited             20.00%   20.00%     20.00%
Estimated fair value of warrants   $ 15,600                    
Equipment Loan                        
Short-term Debt [Line Items]                        
Initial borrowing capacity           $ 4,500            
Interest rate           9.75%            
Debt term           30 months            
Unamortized debt issuance costs     $ 40                  
Interest expense amortization         70   $ 20   $ 30      
Unamortized debt discount     50                  
Amount of final payment, as a percentage of the loan           5.00%            
Proceeds from long-term borrowings     1,500                  
Payments of long-term debt         $ 1,500     $ 60        
Equipment Loan | Stock Purchase Warrants                        
Short-term Debt [Line Items]                        
Estimated fair value of warrants     30                  
Equipment Loan | Preferred Stock Purchase Warrants                        
Short-term Debt [Line Items]                        
Value of warrants issued     200                  
Equipment Loan | Equity and Convertible Debt Stock Purchase Warrants                        
Short-term Debt [Line Items]                        
Value of warrants issued     $ 300