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Related Party Transactions - Overview of Related Parties (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 9 Months Ended 12 Months Ended
Jun. 30, 2021
Mar. 31, 2021
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Related Party Transactions          
Exercise price of warrants     $ 2.04   $ 1.28
Number of Shares     8,732,230   16,967,828
Board fees paid in stock in lieu of director board and committee fees     $ 0.1 $ 0.2  
Common stock issued in lieu of board fees     68,699 128,799  
Series B1 Redeemable Convertible Preferred Stock          
Related Party Transactions          
Conversion of preferred stock to common, shares 10,000 14,000 23,684    
Baker Bros. Advisors LP [Member]          
Related Party Transactions          
Ownership percentage     4.00%   12.00%
Issuance of common stock upon exercise of warrants (in shares)     2,708,812    
Exercise price of warrants     $ 0.08    
Proceeds from exercise of warrants     $ 0.2    
Aggregate common shares         4,608,786
Conversion of preferred stock to common, shares     2,368,400    
Baker Bros. Advisors LP [Member] | Series B1 Redeemable Convertible Preferred Stock          
Related Party Transactions          
Conversion of preferred stock to common, shares     23,684    
Pillar Investment Entities          
Related Party Transactions          
Ownership percentage     19.90%    
Issuance of common stock upon exercise of warrants (in shares)     3,158,386    
Exercise price of warrants     $ 0.01    
Proceeds from exercise of warrants     $ 0.1    
Cashless shares     19,052    
Pillar Investment Entities | Pre-funded Warrants          
Related Party Transactions          
Exercise price of warrants     $ 0.01    
Number of Shares     1,533,159    
Pillar Investment Entities | Warrant, Tranche One          
Related Party Transactions          
Exercise price of warrants     $ 2.28    
Number of Shares     3,039,514    
Pillar Investment Entities | Warrant, Tranche Two          
Related Party Transactions          
Exercise price of warrants     $ 2.58    
Number of Shares     2,764,227    
Pillar Investment Entities | Warrant, Tranche Three          
Related Party Transactions          
Exercise price of warrants     $ 2.71    
Number of Shares     1,373,626