Description of Organization and Summary of Significant Accounting Policies - Summary of Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input (Details) - Preferred Stock Warrant Liability [Member] - USD ($) $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2021	Dec. 31, 2020
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Beginning balance	$ 2,993	$ 1,041
Change in fair value included in other income	5,578	1,952	[1]
Conversion of preferred stock warrants in connection with the reverse recapitalization	(8,571)
Ending Balance	$ 0	$ 2,993

[1] The related preferred stock mark to market adjustment recorded in other income (expense) was $1 and $9 for the three and nine months ended September 30, 2020, respectively.