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Debt - Additional Information (Details) - USD ($)	3 Months Ended		6 Months Ended
Debt - Additional Information (Details) - USD ($)	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	Dec. 31, 2020	Nov. 30, 2020	Jan. 31, 2019
Debt Instrument [Line Items]
Long-term Debt	$ 35,000,000		$ 35,000,000
IPO
Debt Instrument [Line Items]
Proceeds from issuance of common stock			$ 60,000,000.0
2019 Warrants
Debt Instrument [Line Items]
Warrant term	7 years 9 months 18 days		7 years 9 months 18 days
Fair value of warrants			$ 200,000
Senior Secured 2019 Term Loan
Debt Instrument [Line Items]
Debt instrument, term			4 years
Debt instrument payment terms			The 2019 Term Loan required 18 monthly interest-only payments, which began on January 31, 2019, followed by 30 equal monthly installments of principal, plus interest. The interest-only period was extended by an additional six months upon achievement of the Tranche Three Milestone.
Debt instrument, frequency of periodic payment			interest-only payments
Debt instrument interest payment term			18 months
Debt instrument principal and interest payment term			30 months
Debt instrument interest payment extended term			6 months
Debt instrument, effective interest rate	14.52%		14.52%
Interest expense, debt	$ 0.0	$ 500,000	$ 0.0	$ 1,100,000
Debt issuance costs	1,500,000		$ 1,500,000
Debt discount amortized term			4 years
Percentage of prepayment premium year one			3.00%
Percentage of prepayment premium year two			2.00%
Percentage of prepayment premium year three			1.00%
Percentage of final payment fee			5.00%
Debt Instrument, Covenant Description			The Company was subject to financial covenants related to minimum trailing revenue targets that began on January 1, 2019, and are tested on a monthly basis. If only Tranche One Loans were funded, the Company had to achieve minimum net revenue of $7 million over a trailing 12-month period increasing to a maximum net revenue covenant of $35 million for the trailing 12-month period ending December 31, 2022, and thereafter. If only Tranche One Loans and Tranche Two Loans had been funded, the Company had to achieve minimum net revenue of $7 million over a trailing 12-month period increasing to a maximum net revenue covenant of $37.3 million for the 12-month period ending December 31, 2022, and thereafter. If Tranche Three Loans had been funded regardless of whether Tranche Two Loans have been funded, the Company had to achieve minimum net revenue of $15 million over a trailing 12-month period increasing to a maximum net revenue covenant of $46.7 million for the 12-month period ending December 31, 2022, and thereafter.
Senior Secured 2019 Term Loan \| London Interbank Offered Rate (LIBOR)
Debt Instrument [Line Items]
Debt instrument, variable rate			6.75%
Senior Secured 2019 Term Loan \| Tranche One Loans
Debt Instrument [Line Items]
Maximum borrowing capacity							$ 12,000,000.0
Debt instrument covenant minimum revenue	7,000,000		$ 7,000,000
Debt instrument covenant maximum revenue	35,000,000		35,000,000
Senior Secured 2019 Term Loan \| Tranche Two Loans
Debt Instrument [Line Items]
Maximum borrowing capacity							2,000,000.0
Senior Secured 2019 Term Loan \| Tranche Three Loans
Debt Instrument [Line Items]
Maximum borrowing capacity							6,000,000.0
Debt instrument covenant minimum revenue	15,000,000		15,000,000
Debt instrument covenant maximum revenue	$ 46,700,000		$ 46,700,000
Senior Secured 2019 Term Loan \| Tranche Three Loans \| Series C Redeemable Convertible Preferred Stock
Debt Instrument [Line Items]
Warrants issued to purchase shares of convertible preferred stock	12,649		12,649
Senior Secured 2019 Term Loan \| Tranche One and Two Loans
Debt Instrument [Line Items]
Long-term Debt	$ 14,000,000.0		$ 14,000,000.0
Debt instrument covenant minimum revenue	7,000,000		7,000,000
Debt instrument covenant maximum revenue	$ 37,300,000		$ 37,300,000
Senior Secured 2019 Term Loan \| Tranche One and Two Loans \| Series C Redeemable Convertible Preferred Stock
Debt Instrument [Line Items]
Warrants issued to purchase shares of convertible preferred stock	29,514		29,514
Warrant term	10 years		10 years
Class of warrant exercise price	$ 9.49		$ 9.49
Senior Secured 2020 Term Loan
Debt Instrument [Line Items]
Debt instrument, term			5 years
Debt instrument payment terms			The 2020 Term Loan requires 24 monthly interest-only payments, which began on December 1, 2020, followed by 36 equal monthly installments of principal, plus interest.
Debt instrument interest payment term			24 months
Debt instrument principal and interest payment term			36 months
Debt instrument interest payment extended term			12 months
Debt instrument, effective interest rate	13.59%		13.59%
Interest expense, debt	$ 1,100,000	$ 0.0	$ 2,200,000	$ 0.0
Debt issuance costs	500,000		$ 500,000
Debt discount amortized term			5 years
Percentage of prepayment premium year one			3.00%
Percentage of prepayment premium year two			2.00%
Percentage of prepayment premium year three			1.00%
Percentage of final payment fee			6.00%
Accrued amount related accretion on maturity payments	$ 700,000		$ 700,000		$ 500,000
Senior Secured 2020 Term Loan \| Series F Redeemable Convertible Preferred Stock
Debt Instrument [Line Items]
Warrants issued to purchase shares of convertible preferred stock	300,000		300,000
Warrant term	10 years		10 years
Class of warrant exercise price	$ 21.88		$ 21.88
Fair value of warrants			$ 1,800,000
Senior Secured 2020 Term Loan \| London Interbank Offered Rate (LIBOR)
Debt Instrument [Line Items]
Debt instrument, variable rate			7.00%
Senior Secured 2020 Term Loan \| Tranche One Loans
Debt Instrument [Line Items]
Maximum borrowing capacity						$ 12,000,000.0
Senior Secured 2020 Term Loan \| Tranche Two Loans
Debt Instrument [Line Items]
Maximum borrowing capacity						2,000,000.0
Senior Secured 2020 Term Loan \| Tranche Three Loans
Debt Instrument [Line Items]
Maximum borrowing capacity						21,000,000.0
Long-term Debt						21,000,000.0
Revolving 2020
Debt Instrument [Line Items]
Line of credit facility, commitment fee description			An unused line fee of 0.5% is payable monthly based on the average unused balance and a collateral management fee of 0.5% is payable monthly based on the outstanding balance of the 2020 Revolver.
Line of credit facility, unused capacity, commitment fee percentage			0.50%
Line of credit facility collateral fees	0.50%		0.50%
Line of credit facility commitment fee amount			$ 15,000,000.0
Line of credit facility, current borrowing capacity	$ 5,000,000.0		$ 5,000,000.0
Revolving 2020 \| London Interbank Offered Rate (LIBOR)
Debt Instrument [Line Items]
Debt instrument, variable rate			4.50%
Mid Cap Financial Services
Debt Instrument [Line Items]
Maximum borrowing capacity						40,000,000.0	25,000,000.0
Mid Cap Financial Services \| Senior Secured 2019 Term Loan
Debt Instrument [Line Items]
Maximum borrowing capacity							20,000,000.0
Mid Cap Financial Services \| Senior Secured 2020 Term Loan
Debt Instrument [Line Items]
Maximum borrowing capacity						35,000,000.0
Mid Cap Financial Services \| Revolver 2019
Debt Instrument [Line Items]
Maximum borrowing capacity							$ 5,000,000.0
Mid Cap Financial Services \| Revolving 2020
Debt Instrument [Line Items]
Maximum borrowing capacity						$ 5,000,000.0