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Net Loss Per Share Attributable to Common Stockholders - Schedule of Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Earnings Per Share [Abstract]        
Net loss $ (9,615) $ (2,258) $ (36,935) $ (5,805)
Accretion of redeemable convertible preferred stock to redemption value and cumulative preferred stock dividends (1,322) (461) (4,548) (1,352)
Net loss attributable to common stockholders $ (10,937) $ (2,719) $ (41,483) $ (7,157)
Weighted-average number of shares outstanding used to compute net loss per share attributable to common stockholders, basic and diluted 15,585,611 1,863,860 7,554,300 1,859,713
Net loss per share attributable to common stockholders, basic and diluted $ (0.70) $ (1.46) $ (5.49) $ (3.85)