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Fair Value Considerations - Schedule of Assets and Liabilities at Fair Value on a Recurring Basis (Details) - Recurring - USD ($) $ in Thousands | Sep. 30, 2021 | Dec. 31, 2020
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Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | $ 78,323 | $ 78,243
Total liabilities | 53,659 | 39,352
Money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 33,334 | 23,044
U.S. government securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 8,021 | 12,123
Corporate bonds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets |  | 6,408
Commercial paper |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 36,968 | 36,668
Oberland facility |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Oberland facility | 49,837 | 36,855
Debt derivative liabilities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Debt derivative liability | 3,822 | 2,497
(Level 1) |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 41,355 | 35,167
Total liabilities | 0 | 0
(Level 1) | Money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 33,334 | 23,044
(Level 1) | U.S. government securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 8,021 | 12,123
(Level 1) | Corporate bonds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets |  | 0
(Level 1) | Commercial paper |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 0 | 0
(Level 1) | Oberland facility |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Oberland facility | 0 | 0
(Level 1) | Debt derivative liabilities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Debt derivative liability | 0 | 0
(Level 2) |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 36,968 | 43,076
Total liabilities | 0 | 0
(Level 2) | Money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 0 | 0
(Level 2) | U.S. government securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 0 | 0
(Level 2) | Corporate bonds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets |  | 6,408
(Level 2) | Commercial paper |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 36,968 | 36,668
(Level 2) | Oberland facility |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Oberland facility | 0 | 0
(Level 2) | Debt derivative liabilities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Debt derivative liability | 0 | 0
(Level 3) |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 0 | 0
Total liabilities | 53,659 | 39,352
(Level 3) | Money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 0 | 0
(Level 3) | U.S. government securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 0 | 0
(Level 3) | Corporate bonds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets |  | 0
(Level 3) | Commercial paper |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 0 | 0
(Level 3) | Oberland facility |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Oberland facility | 49,837 | 36,855
(Level 3) | Debt derivative liabilities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Debt derivative liability | $ 3,822 | $ 2,497

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