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Warrants to Purchase Convertible Preferred Stock - Summary of Activity for Convertible Preferred Stock Warrants (Details)
shares in Thousands
 12 Months Ended
Dec. 31, 2020
$ / shares
shares
Series E Convertible Preferred Stock Warrants  
Class Of Warrant Or Right [Line Items]  
Outstanding - January 1, 2020, warrants | shares 925
Forfeited/canceled, warrants | shares (925)
Weighted average exercise price, Outstanding - January 1, 2020, warrants | $ / shares $ 5.00
Weighted average exercise price, Forfeited/canceled, warrants | $ / shares $ (5.00)
Series G Convertible Preferred Stock Warrants  
Class Of Warrant Or Right [Line Items]  
Outstanding - January 1, 2020, warrants | shares 613
Reclassification of warrant liability to additional paid-in capital, warrants | shares (613)
Weighted average exercise price, Outstanding - January 1, 2020, warrants | $ / shares $ 0.75
Weighted average exercise price, Reclassification of warrant liability to additional paid-in capital, warrants | $ / shares $ (0.75)