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Long-Term Debt and Other Financings - Silicon Valley Bank Loan Agreement (Details) - USD ($) $ / shares in Units, $ in Thousands |  |  | 1 Months Ended | 3 Months Ended | 6 Months Ended | 9 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | --- | --- | --- | ---
Mar. 04, 2019 | May 07, 2018 | Jun. 30, 2021 | Sep. 30, 2018 | Sep. 30, 2020 | Jun. 30, 2021 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2019 | Dec. 31, 2020
Long-term debt |  |  |  |  |  |  |  |  |  |
Current portion of long-term debt |  |  |  |  |  |  |  |  |  | $ 8,088
Long-term debt |  |  |  |  |  |  |  |  |  | $ 12,764
Loss on extinguishment of debt |  |  |  |  |  |  | $ (300) |  |  |
Ten Year Warrants Issued in May 2018 [Member] |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |
Exercise price of per share (in dollars per share) |  |  |  |  |  |  | $ 23.69 |  |  | $ 23.69
Common stock warrant, Exercise price $14.71 per share, Issued March 2019 |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |
Exercise price of per share (in dollars per share) |  |  |  |  |  |  | $ 14.71 |  |  | $ 14.71
Silicon Valley Bank [Member] |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |
Maximum borrowing capacity under loan agreement |  | $ 20,000 |  |  |  |  |  |  |  |
Period of monthly payments of principal and interest |  | 24 months |  |  |  |  |  |  |  |
Maximum period following loan amortization date for which loan will mature |  | 23 months |  |  |  |  |  |  |  |
Maximum period prior to loan maturity date of Novartis loan for which loan will mature |  | 30 days |  |  |  |  |  |  |  |
Amount of loan that may be reborrowed after repayment |  | $ 0 |  |  |  |  |  |  |  |
Repayments of debt |  |  | $ 6,500 |  |  |  |  |  |  |
Final payment fee (as a percent) |  | 8.50% | 8.50% |  |  | 8.50% |  |  |  |
Final payment fee |  |  | $ 1,400 |  |  |  |  |  |  |
Prepayment fee (as a percent) |  |  | 1.00% |  |  | 1.00% |  |  |  |
Debt issuance costs |  | $ 200 |  |  |  |  |  |  |  |
Non-cash interest expense resulting from amortization of discount and accretion of final payment |  |  |  |  | $ 200 | $ 200 |  | $ 500 |  |
Debt amount |  |  |  |  |  |  | $ 0 |  |  | $ 11,800
Current portion of long-term debt |  |  |  |  |  |  |  |  |  | 8,100
Long-term debt |  |  |  |  |  |  |  |  |  | $ 3,700
Loss on extinguishment of debt |  |  |  |  |  |  | $ 300 |  |  |
Silicon Valley Bank [Member] | Minimum [Member] |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |
Interest rate (as a percent) |  | 4.75% |  |  |  |  |  |  |  |
Silicon Valley Bank [Member] | Ten Year Warrants Issued in May 2018 [Member] |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |
Aggregate number of shares of common stock called by warrants |  | 6,332 |  |  |  |  |  |  |  |
Exercise price of per share (in dollars per share) |  | $ 23.69 |  |  |  |  |  |  |  |
Exercisable period of warrants |  | 10 years |  |  |  |  |  |  |  |
Fair value of warrant |  | $ 100 |  |  |  |  |  |  |  |
Silicon Valley Bank [Member] | Common stock warrant, Exercise price $14.71 per share, Issued March 2019 |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |
Aggregate number of shares of common stock called by warrants | 4,845 |  |  |  |  |  |  |  |  |
Exercise price of per share (in dollars per share) | $ 14.71 |  |  |  |  |  |  |  |  |
Exercisable period of warrants | 10 years |  |  |  |  |  |  |  |  |
Fair value of warrant | $ 100 |  |  |  |  |  |  |  |  |
Silicon Valley Bank [Member] | Prime Rate [Member] |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |
Basis spread on variable rate |  | 0.25% |  |  |  |  |  |  |  |
First Term Loan [Member] |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |
Proceeds from issuance of long-term debt |  |  |  | $ 7,500 |  |  |  |  |  |
Unamortized discount |  |  |  | $ 300 |  |  |  |  |  |
Second Term Loan [Member] |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |
Proceeds from issuance of long-term debt |  |  |  |  |  |  |  |  | $ 9,500 |
Unamortized discount |  |  |  |  |  |  |  |  | $ 45 |

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