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Debt (Details) - USD ($)
$ / shares in Units, $ in Millions
1 Months Ended
May 31, 2021
Jan. 31, 2021
Nov. 30, 2020
Oct. 31, 2020
2019 Convertible Notes        
Debt Instrument [Line Items]        
Conversion price (in dollars per share)   $ 3.9760    
Warrant liability reclassified to additional paid-in capital upon exercise of Public Warrants   $ 0.1    
2019 Convertible Notes | Series B-1        
Debt Instrument [Line Items]        
Shares issued of convertible preferred stock (in shares)   27,947    
2020 Convertible Notes        
Debt Instrument [Line Items]        
Warrant liability reclassified to additional paid-in capital upon exercise of Public Warrants     $ 9.0  
Repayment of convertible debt $ 1.8      
2020 Loan and Security Agreement | Secured Debt        
Debt Instrument [Line Items]        
Term loan amount       $ 15.0