Debt - Summary of the Company's Long-term Indebtedness (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Line of Credit Facility [Line Items]
Total debt	$ 18,935	$ 12,395
Less current portion	(9,435)	(2,024)
Less debt discount		(187)
Less debt issuance costs	(8)	(4)
Total long-term debt, net	9,492	10,180
Term Note Payable to SVB [Member]
Line of Credit Facility [Line Items]
Total debt	15,000	10,000
Financed Insurance Premium [Member]
Line of Credit Facility [Line Items]
Total debt	$ 3,935	320
Small Business Administration Paycheck Protection Program Note Payable [Member]
Line of Credit Facility [Line Items]
Total debt		$ 2,075