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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
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