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Warrants to Purchase Common Stock - Narrative (Details) $ / shares in Units, $ in Thousands | 1 Months Ended | 3 Months Ended | 9 Months Ended |  |  |  |  |  |
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Mar. 31, 2021 USD ($) customer $ / shares shares | Sep. 30, 2021 USD ($) shares | Mar. 31, 2016 warrant | Mar. 31, 2014 warrant | Sep. 30, 2021 USD ($) shares | Jul. 31, 2021 shares | Dec. 31, 2020 USD ($) $ / shares shares | Dec. 31, 2016 $ / shares shares | Dec. 31, 2015 $ / shares shares | Dec. 31, 2014 $ / shares shares | Dec. 31, 2013 $ / shares shares
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |
Vested warrants outstanding (in shares) |  | 183,334 |  |  | 183,334 |  |  |  |  |  |
Redeemable convertible preferred stock warrant liabilities | $ |  | $ 0 |  |  | $ 0 |  | $ 2,517 |  |  |  |
Class of warrant or right, reduction to net revenues in the period | $ |  | $ 2,000 |  |  | $ 3,000 |  |  |  |  |  |
Number of customers | customer | 2 |  |  |  |  |  |  |  |  |  |
Warrants contingent performance condition, measurement period (in years) | 3 years |  |  |  |  |  |  |  |  |  |
Class B Common Stock |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |
Number of securities called by each warrant (in shares) |  | 668,412 |  |  | 668,412 |  |  |  |  |  |
Series B, Redeemable Convertible Preferred Stock Warrants |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |
Number of warrants | warrant |  |  |  | 2 |  |  |  |  |  |  |
Number of securities called by each warrant (in shares) |  |  |  |  |  | 203,610 |  |  |  | 101,805 | 101,805
Exercise price of warrants (in dollars per share) | $ / shares |  |  |  |  |  |  |  |  |  | $ 0.295 | $ 0.295
Common Stock Warrants |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |
Number of warrants | warrant |  |  | 2 |  |  |  |  |  |  |  |
Number of securities called by each warrant (in shares) |  |  |  |  |  |  | 750,000 |  |  |  |
Exercise price of warrants (in dollars per share) | $ / shares | $ 0.01 |  |  |  |  |  | $ 0.01 | $ 0.053 | $ 0.053 |  |
Vested warrants outstanding (in shares) |  | 25,900 |  |  | 25,900 |  |  |  |  |  |
Warrant term (in years) | 4 years |  |  |  |  |  | 5 years |  |  |  |
Redeemable convertible preferred stock warrant liabilities | $ | $ 26,400 |  |  |  |  |  | $ 5,700 |  |  |  |
Class of warrant or right, reduction to net revenues in the period | $ |  | $ 100 |  |  | $ 200 |  |  |  |  |  |
Common Stock Warrants | Customer One |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |
Number of securities called by each warrant (in shares) | 1,100,000 |  |  |  |  |  |  |  |  |  |
Common Stock Warrants | Customer Two |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |
Number of securities called by each warrant (in shares) | 50,000 |  |  |  |  |  |  |  |  |  |
2015 Common Stock Warrants |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |
Number of securities called by each warrant (in shares) |  |  |  |  |  |  |  |  | 231,348 |  |
Vested warrants outstanding (in shares) |  |  |  |  |  |  | 231,348 |  |  |  |
2016 Common Stock Warrants |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |  |  |  |  |  |  |
Number of securities called by each warrant (in shares) |  |  |  |  |  |  |  | 621,066 |  |  |
Vested warrants outstanding (in shares) |  |  |  |  |  |  | 438,180 |  |  |  |

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