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Net loss per share - Basic and Diluted Net Loss per Share Attributable to Common Stockholders (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Numerator:                
Net loss $ (24,987) $ (11,831) $ (22,101) $ (8,465) $ (9,267) $ (8,007) $ (58,919) $ (25,739)
Accretion of redeemable convertible preferred stock to redemption value 210     (832)     (1,761) (2,882)
Cumulative redeemable convertible preferred stock dividends (451)     (1,412)     (2,747) (2,987)
Net loss attributable to common stockholders - basic (25,228)     (10,709)     (63,427) (31,608)
Net loss attributable to common stockholders - diluted $ (25,228)     $ (10,709)     $ (63,427) $ (31,608)
Denominator:                
Weighted average common shares outstanding - basic 35,316,099     356,074     12,344,619 354,341
Weighted average common shares outstanding - diluted 35,316,099     356,074     12,344,619 354,341
Net loss per share attributable to common stockholders - basic $ (0.71)     $ (30.08)     $ (5.14) $ (89.20)
Net loss per share attributable to common stockholders - diluted $ (0.71)     $ (30.08)     $ (5.14) $ (89.20)
Common Class A                
Denominator:                
Weighted average common shares outstanding - basic 29,463,234     356,074     10,372,225 354,341
Weighted average common shares outstanding - diluted 29,463,234     356,074     10,372,225 354,341
Net loss per share attributable to common stockholders - basic $ (0.71)     $ (30.08)     $ (5.14) $ (89.20)
Net loss per share attributable to common stockholders - diluted $ (0.71)     $ (30.08)     $ (5.14) $ (89.20)
Common Class B                
Denominator:                
Weighted average common shares outstanding - basic 5,852,865           1,972,394  
Weighted average common shares outstanding - diluted 5,852,865           1,972,394  
Net loss per share attributable to common stockholders - basic $ (0.71)           $ (5.14)  
Net loss per share attributable to common stockholders - diluted $ (0.71)           $ (5.14)