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Redeemable Convertible Preferred Stock Warrants - Additional Information (Details)
$ / shares in Units, $ in Millions
 1 Months Ended
Aug. 31, 2021
shares
Jul. 19, 2021
Dec. 31, 2020
USD ($)
Nov. 30, 2020
USD ($)
$ / shares
shares
Nov. 30, 2019
shares
Jan. 31, 2019
USD ($)
$ / shares
shares
2019 Warrants            
Class Of Warrant Or Right [Line Items]            
Warrants to purchase shares of stock           59,028
Warrants fair value | $     $ 0.3     $ 0.2
2019 Warrants | Common Stock            
Class Of Warrant Or Right [Line Items]            
Share of common stock issued upon warrant exercised 51,846          
2019 Warrants | Measurement Input Expected Term            
Class Of Warrant Or Right [Line Items]            
Warrant term   14 days [1]       10 years
2019 Warrants | Measurement Input Risk Free Interest Rate            
Class Of Warrant Or Right [Line Items]            
Alternative investment, measurement input   0.0005 [1]       0.0299
2019 Warrants | Measurement Input Price Volatility            
Class Of Warrant Or Right [Line Items]            
Alternative investment, measurement input   0.3790 [1]       0.5095
2019 Warrants | Measurement Input Expected Dividend Rate            
Class Of Warrant Or Right [Line Items]            
Alternative investment, measurement input           0
2020 Warrants            
Class Of Warrant Or Right [Line Items]            
Warrants to purchase shares of stock       600,000    
Warrants fair value | $     $ 6.0 $ 1.8    
Warrant term [2]   14 days        
2020 Warrants | Common Stock            
Class Of Warrant Or Right [Line Items]            
Share of common stock issued upon warrant exercised 431,708          
2020 Warrants | Measurement Input Risk Free Interest Rate            
Class Of Warrant Or Right [Line Items]            
Alternative investment, measurement input [2]   0.0005        
2020 Warrants | Measurement Input Price Volatility            
Class Of Warrant Or Right [Line Items]            
Alternative investment, measurement input [2]   0.3790        
Series C Redeemable Convertible Preferred Stock | 2019 Warrants | Funding of Tranche 1 and Tranche 2 under 2019 Term Loan            
Class Of Warrant Or Right [Line Items]            
Warrants to purchase shares of stock           29,514
Class of warrant exercise price | $ / shares           $ 9.49
Warrant term           10 years
Series C Redeemable Convertible Preferred Stock | 2019 Warrants | Funding of 2019 Term Loan Tranche 3            
Class Of Warrant Or Right [Line Items]            
Additional warrants issued expired         12,649  
Series F Redeemable Convertible Preferred Stock | 2020 Warrants            
Class Of Warrant Or Right [Line Items]            
Warrants to purchase shares of stock       300,000    
Class of warrant exercise price | $ / shares       $ 21.88    
Warrant term       10 years    
[1] Date the Company's registration statement (Form S-1) was declared effective
[2] Date the Company's registration statement (Form S-1) was declared effective