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Long-term debt - Term loans and convertible notes (Details)
$ / shares in Units, $ in Thousands
 1 Months Ended 3 Months Ended 9 Months Ended
May 31, 2020
USD ($)
item
$ / shares
shares
Apr. 30, 2020
USD ($)
shares
Feb. 29, 2020
USD ($)
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Dec. 31, 2020
USD ($)
Apr. 30, 2018
USD ($)
Debt Instrument [Line Items]                  
Proceeds from issuance of redeemable convertible preferred stock, net of issuance costs           $ 79,743 $ 49,935    
Value of stock issued upon conversion of convertible preferred stock       $ 236,077          
Loss on extinguishment of debt       3,100   3,100 2,910    
Long-term Debt.               $ 24,810  
Series C1 Redeemable Convertible Preferred Stock                  
Debt Instrument [Line Items]                  
Proceeds from issuance of redeemable convertible preferred stock, net of issuance costs   $ 27,200              
2018 Term Loan                  
Debt Instrument [Line Items]                  
Loan amount                 $ 18,000
Debt paid $ 19,400                
Non-refundable end of term charges paid 1,300                
Accrued interest paid 600                
Early termination fee paid 100                
Write off of debt issuance cost and end of term exit fee             700    
Early payment and documentation fees             100    
Interest expenses         $ 100   800    
Amortization of debt discount         100   200    
Loss on extinguishment of debt             2,900    
2020 Term Loan                  
Debt Instrument [Line Items]                  
Loan amount 60,000                
Interest expenses       700   2,500      
Amortization of debt discount 300     100   300      
Facility fees $ 800                
Number of loan tranches | item 3                
Debt issuance costs $ 1,500                
Professional fees 900                
Debt issuance cost allocated to warrant issued $ 600                
Loss on extinguishment of debt           3,100      
Prepayment Penalty           1,800      
Expense to unamortized discounts           1,100      
Unamortized prepaid facility fees and other charges           200      
Long-term Debt.       $ 0   $ 0      
2020 Term Loan | Series C1 Redeemable Convertible Preferred Stock                  
Debt Instrument [Line Items]                  
Shares issued upon conversion of warrant | shares 1,195,652                
Exercise price | $ / shares $ 1.15                
2020 Term Loan- Tranche One                  
Debt Instrument [Line Items]                  
Loan amount $ 25,000                
2020 Term Loan- Tranche Two and Three                  
Debt Instrument [Line Items]                  
Loan amount 35,000                
2020 Term Loan- Tranche Two                  
Debt Instrument [Line Items]                  
Loan amount 20,000                
Debt issuance costs 300                
2020 Term Loan- Tranche Three                  
Debt Instrument [Line Items]                  
Loan amount 15,000                
Debt issuance costs $ 200                
Convertible Notes                  
Debt Instrument [Line Items]                  
Loan amount     $ 9,500            
Interest rate     1.50%            
Interest expenses         $ 0   $ 400    
Debt     $ 7,100            
Value of stock issued upon conversion of convertible preferred stock     $ 20,000            
Percentage of price of share of shares converted     80.00%            
Derivative liability     $ 2,400            
Convertible Notes | Series C1 Redeemable Convertible Preferred Stock                  
Debt Instrument [Line Items]                  
Loan amount   9,500              
Debt   $ 9,500              
Number of stock issued upon conversion of convertible preferred stock | shares   10,351,063