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Stockholders' Equity (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 9 Months Ended 12 Months Ended
Nov. 27, 2019
Jun. 30, 2021
May 31, 2020
Oct. 31, 2019
Dec. 31, 2018
Aug. 31, 2018
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Aug. 06, 2018
Stock transactions                    
Proceeds from public offering of common stock, net of issuance costs             $ 123,995 $ 105,478    
Par value (per share)             $ 0.00001   $ 0.00001  
2019 Form S-3                    
Stock transactions                    
Common stock available for sale             $ 94,200      
Maximum aggregate offering price       $ 250,000            
2019 Sales Agreement                    
Stock transactions                    
Common stock available for sale             $ 31,900      
Maximum aggregate offering price $ 250,000     $ 75,000            
Underwritten public offering                    
Stock transactions                    
Net proceeds from sale of common stock   $ 123,800 $ 105,300              
Common stock issued (in shares)   3,046,358 7,000,000              
Common stock issued, price per share   $ 37.75 $ 14.00              
underwritten public offering, Additional offering                    
Stock transactions                    
Common stock issued (in shares)   456,953 1,050,000              
Common stock issued, price per share   $ 37.75 $ 14.00              
Common Stock                    
Stock transactions                    
Common stock issued (in shares)             3,503,311 8,050,000 4,761,904  
Common stock issued, price per share                 $ 21.00  
Proceeds from public offering of common stock, net of issuance costs                 $ 107,600  
Common Stock | Private Placement                    
Stock transactions                    
Number of warrants exercised             0      
Common Stock | underwritten public offering, Additional offering                    
Stock transactions                    
Common stock issued (in shares)                 714,285  
Common stock issued, price per share                 $ 21.00  
Investors | Private Placement                    
Stock transactions                    
Aggregate shares of common stock sold           2,750,000        
Common stock sold, price per share           $ 8.00        
Net proceeds from sale of common stock           $ 21,700        
Warrants issued to purchase common stock, number of shares                   2,750,000
Warrants exercisable date           Aug. 08, 2023        
Exchange Agreement | Exchanging Stockholders                    
Stock transactions                    
Warrants issued to purchase common stock, number of shares         1,000,000          
Exercise Price (per share)         $ 0.00001          
Common stock exchanged for pre-funded warrants         1,000,000          
Par value (per share)         $ 0.00001          
Duration of warrants from date of issuance (in years)         10 years          
Equity method investment, ownership percentage         9.99%          
Exchange Agreement | Exchanging Stockholders | Common Stock                    
Stock transactions                    
Remaining number of Exchange Warrants unexercised             400,000      
$10.00 per share | Investors | Private Placement                    
Stock transactions                    
Warrants to purchase common stock (in shares)                   1,375,000
Exercise Price (per share)                   $ 10.00
$15.00 per share | Investors | Private Placement                    
Stock transactions                    
Warrants to purchase common stock (in shares)                   1,375,000
Exercise Price (per share)                   $ 15.00