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Condensed Consolidated Statements of Redeemable Convertible Preferred Stock and Stockholders' Equity (Deficit) (Unaudited) - USD ($)
$ in Thousands
Total
IPO
Redeemable Convertible Preferred Stock
Redeemable Convertible Preferred Stock
IPO
Common Stock
Common Stock
IPO
Additional Paid-In Capital
Additional Paid-In Capital
IPO
Accumulated Deficit
Beginning Balance at Dec. 31, 2019     $ 64,256            
Beginning Balance, shares at Dec. 31, 2019     9,804,640            
Beginning Balance at Dec. 31, 2019 $ (54,683)       $ 9   $ 656   $ (55,348)
Beginning Balance, shares at Dec. 31, 2019         9,319,466        
Issuance of Series E convertible preferred stock 0   $ 30,055            
Issuance of Series E convertible preferred stock, shares     1,899,847            
Exercise of stock options 1           1    
Exercise of stock options, shares         1,500        
Stock-based compensation expense 61           61    
Net loss and comprehensive loss (9,175)               (9,175)
Ending Balance at Mar. 31, 2020     $ 94,311            
Ending Balance, shares at Mar. 31, 2020     11,704,487            
Ending Balance at Mar. 31, 2020 (63,796)       $ 9   718   (64,523)
Ending Balance, shares at Mar. 31, 2020         9,320,966        
Beginning Balance at Dec. 31, 2019     $ 64,256            
Beginning Balance, shares at Dec. 31, 2019     9,804,640            
Beginning Balance at Dec. 31, 2019 (54,683)       $ 9   656   (55,348)
Beginning Balance, shares at Dec. 31, 2019         9,319,466        
Net loss and comprehensive loss (25,588)                
Ending Balance at Sep. 30, 2020     $ 94,244            
Ending Balance, shares at Sep. 30, 2020     11,704,487            
Ending Balance at Sep. 30, 2020 (79,960)       $ 9   967   (80,936)
Ending Balance, shares at Sep. 30, 2020         9,375,832        
Beginning Balance at Mar. 31, 2020     $ 94,311            
Beginning Balance, shares at Mar. 31, 2020     11,704,487            
Beginning Balance at Mar. 31, 2020 (63,796)       $ 9   718   (64,523)
Beginning Balance, shares at Mar. 31, 2020         9,320,966        
Issuance of Series E convertible preferred stock 0   $ 12            
Exercise of stock options 7           7    
Exercise of stock options, shares         20,520        
Stock-based compensation expense 65           65    
Net loss and comprehensive loss (8,316)               (8,316)
Ending Balance at Jun. 30, 2020 (72,040)   $ 94,299   $ 9   790   (72,839)
Ending Balance, shares at Jun. 30, 2020     11,704,487   9,341,486        
Series F redeemable convertible preferred stock issuance cost 0   $ (55)            
Exercise of stock options 12           12    
Exercise of stock options, shares         34,346        
Stock-based compensation expense 165           165    
Net loss and comprehensive loss (8,097)               (8,097)
Ending Balance at Sep. 30, 2020     $ 94,244            
Ending Balance, shares at Sep. 30, 2020     11,704,487            
Ending Balance at Sep. 30, 2020 $ (79,960)       $ 9   967   (80,936)
Ending Balance, shares at Sep. 30, 2020         9,375,832        
Beginning Balance at Dec. 31, 2020     $ 117,331            
Beginning Balance, shares at Dec. 31, 2020 12,767,202   12,767,202            
Beginning Balance at Dec. 31, 2020 $ (88,849)       $ 9   1,183   (90,041)
Beginning Balance, shares at Dec. 31, 2020         9,509,182        
Exercise of stock options 11           11    
Exercise of stock options, shares         16,862        
Stock-based compensation expense 277           277    
Net loss and comprehensive loss (12,240)               (12,240)
Ending Balance at Mar. 31, 2021     $ 117,331            
Ending Balance, shares at Mar. 31, 2021     12,767,202            
Ending Balance at Mar. 31, 2021 $ (100,801)       $ 9   1,471   (102,281)
Ending Balance, shares at Mar. 31, 2021         9,526,044        
Beginning Balance at Dec. 31, 2020     $ 117,331            
Beginning Balance, shares at Dec. 31, 2020 12,767,202   12,767,202            
Beginning Balance at Dec. 31, 2020 $ (88,849)       $ 9   1,183   (90,041)
Beginning Balance, shares at Dec. 31, 2020         9,509,182        
Conversion of redeemable convertible preferred stock 25,534,404                
Net loss and comprehensive loss $ (47,024)                
Ending Balance at Sep. 30, 2021     $ 0            
Ending Balance, shares at Sep. 30, 2021     0            
Ending Balance at Sep. 30, 2021 245,976       $ 49   382,992   (137,065)
Ending Balance, shares at Sep. 30, 2021         47,292,022        
Beginning Balance at Mar. 31, 2021     $ 117,331            
Beginning Balance, shares at Mar. 31, 2021     12,767,202            
Beginning Balance at Mar. 31, 2021 (100,801)       $ 9   1,471   (102,281)
Beginning Balance, shares at Mar. 31, 2021         9,526,044        
Exercise of stock options 196           196    
Exercise of stock options, shares         205,988        
Stock-based compensation expense 931           931    
Net loss and comprehensive loss (17,615)               (17,615)
Ending Balance at Jun. 30, 2021     $ 117,331            
Ending Balance, shares at Jun. 30, 2021     12,767,202            
Ending Balance at Jun. 30, 2021 (117,289)       $ 9   2,598   (119,896)
Ending Balance, shares at Jun. 30, 2021         9,732,032        
Conversion of redeemable convertible preferred stock to common stock upon initial public offering   $ 117,331   $ (117,331)   $ 27   $ 117,304  
Conversion of redeemable convertible preferred stock       (12,767,202)   25,534,404      
Issuance of common stock in connection with initial public offering, net of underwriting discounts and commissions and other offering costs of $23.8 million 252,174       $ 12   252,162    
Issuance of common stock in connection with initial public offering, net of underwriting discounts and commissions and other offering costs of $23.8 million, shares         11,500,000        
Conversion of redeemable convertible preferred stock warrants to common stock warrants upon initial public offering   $ 8,973           $ 8,973  
Exercise of common stock warrants 0       $ 1   (1)    
Exercise of common stock warrants, shares         483,554        
Exercise of stock options 57           57    
Exercise of stock options, shares         42,032        
Stock-based compensation expense 1,899           1,899    
Net loss and comprehensive loss (17,169)               (17,169)
Ending Balance at Sep. 30, 2021     $ 0            
Ending Balance, shares at Sep. 30, 2021     0            
Ending Balance at Sep. 30, 2021 $ 245,976       $ 49   $ 382,992   $ (137,065)
Ending Balance, shares at Sep. 30, 2021         47,292,022