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Convertible Preferred Stock and Stockholders' Deficit - Summary of Restricted Shares of Common Stock and Unvested Stock Liability (Details)
$ in Thousands
 9 Months Ended
Sep. 30, 2021
USD ($)
shares
Liabilities And Stockholders Equity [Line Items]  
Beginning Balance, Unvested stock liability | $ $ 145
Vested shares, Unvested stock liability | $ (8)
Ending Balance, Unvested stock liability | $ $ 137
Restricted Shares  
Liabilities And Stockholders Equity [Line Items]  
Beginning Balance | shares 646,953
Vested shares | shares (216,540)
Ending Balance | shares 430,413