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Long-Term Debt - Narrative (Details) - USD ($)
 1 Months Ended 12 Months Ended
Sep. 22, 2021
Aug. 29, 2021
Aug. 28, 2021
Dec. 17, 2020
Sep. 30, 2019
Dec. 31, 2020
Apr. 30, 2020
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 16, 2020
Dec. 31, 2018
Debt Instrument [Line Items]                        
Debt issuance costs           $ 2,789,000   $ 1,422,000 $ 2,789,000      
Final payment               3,151,000        
Amortization of debt issuance costs               1,717,000 1,121,000 $ 292,000    
Class P Warrants                        
Debt Instrument [Line Items]                        
Number of securities called by warrants (in shares)         333,333              
Warrant liability, fair value $ 6,400,000       $ 100,000              
Warrant carrying value $ 6,400,000                      
Conversion of convertible securities (in shares) 534,589                      
Exercise price of warrants (in dollars per share)       $ 6.70 $ 3.52              
First Amendment Warrants                        
Debt Instrument [Line Items]                        
Warrants issued (in shares)       25,000                
Exercise price of warrants (in dollars per share)       $ 10.00                
Warrant term       10 years                
Maximum | First Amendment Warrants                        
Debt Instrument [Line Items]                        
Warrant liability, fair value       $ 100,000                
Notes Payable, Other Payables                        
Debt Instrument [Line Items]                        
Interest rate, stated percentage                       10.00%
Related party notes payable                       $ 11,000,000
Related party interest expense                   1,000,000    
Term Loan Agreement | Secured Debt                        
Debt Instrument [Line Items]                        
Debt instrument, face amount       $ 65,000,000 $ 40,000,000              
Debt issuance costs         2,600,000 2,789,000   1,422,000 2,789,000      
Final payment         $ 1,600,000              
Interest rate, effective percentage       9.25%             10.40%  
Interest only period extension       6 months                
Final payment modification, principal       $ 1,400,000                
Final payment modification, debt issuance costs       $ 200,000                
Interest expense, debt               $ 5,900,000 $ 3,800,000 $ 2,000,000    
Interest rate during period               11.68% 13.01% 11.90%    
Amortization of debt issuance costs                 $ 1,100,000 $ 300,000    
Term Loan Agreement | Secured Debt | Maximum                        
Debt Instrument [Line Items]                        
Prepayment fee, percent         0.0003%              
Term Loan Agreement | Secured Debt | Minimum                        
Debt Instrument [Line Items]                        
Prepayment fee, percent         0.00%              
Term Loan Agreement | Secured Debt | London Interbank Offered Rate (LIBOR)                        
Debt Instrument [Line Items]                        
Floor interest rate         0.0215%              
Basis spread on variable rate   7.75% 8.25%   0.0825%              
Variable rate floor   0.50% 1.00% 1.00%             2.15%  
First Tranche Term Loan | Secured Debt                        
Debt Instrument [Line Items]                        
Debt instrument, face amount         $ 35,000,000              
Second Tranche Term Loan | Secured Debt                        
Debt Instrument [Line Items]                        
Debt instrument, face amount       $ 30,000,000 $ 5,000,000           $ 5,000,000  
Debt issuance costs       $ 300,000                
Maximum distribution period       90 days                
PPP Loan                        
Debt Instrument [Line Items]                        
Interest expense, debt           $ 100,000            
Borrowings from PPP loan             $ 2,700,000          
Interest rate, stated percentage             1.00%