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Convertible Notes (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 3 Months Ended 6 Months Ended 9 Months Ended 12 Months Ended
Aug. 11, 2020
May 31, 2021
Sep. 30, 2021
Sep. 30, 2020
Jul. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Convertible Notes (Details) [Line Items]                
Convertible notes payable     $ 13,600     $ 13,600    
Common stock potentially issuable upon conversion (in Shares)           482,703    
Effective interest rate           The effective interest rate was 15.46% for the three and nine months ended September 30, 2021.    
Convertible Notes Payable [Member]                
Convertible Notes (Details) [Line Items]                
Convertible notes payable         $ 6,100      
Annual debt interest         5.00%      
Description of convertible notes         The 2020 Convertible Notes were convertible at the earlier of (i) one year, at which point the notes would be convertible into Series C Preferred Shares at the Series C Preferred Share issuance price, and (ii) next equity financing of no less than $10.0 million, at which point the notes would be convertible into shares issued in the next equity financing at 90% of the per share issuance price of the next equity financing. The 2020 Convertible Notes contained embedded features that provide the lenders with multiple settlement alternatives. Certain of these settlement features provided the lenders with a right to a fixed number of our shares upon conversion of the notes. Other settlement features provided the lenders with the right or the obligation to receive cash or a variable number of shares upon the completion of a capital raising transaction, change of control, or default of the Company (the “Redemption Features”). The Redemption Features of the 2020 Convertible Notes met the requirements for separate accounting and were accounted for as a single derivative instrument (the “2020 Derivative Instrument”). Accordingly, the 2020 Derivative Instrument of $0.7 million was recorded at fair value at inception as redeemable convertible preferred stock derivative liability in the condensed consolidated balance sheets (see Note 12).      
Interest expense       $ 34     $ 200  
Amortization of debt discount       $ 100     $ 100  
Debt extinguishment $ 6,900              
Convertible shares (in Shares) 1,497,135              
Percentage of stock price 90.00%              
Convertible per share (in Dollars per share) $ 4.6              
Loss on extinguishment of debt               $ 500
Unamortized discount               $ 500
Description of loss on extinguishment               The loss on extinguishment was calculated as the difference between (i) the fair value of the 1,497,135 shares of Series D Preferred Stock issued to settle the 2020 Convertible Notes of $6.9 million and (ii) the carrying value of the 2020 Convertible Notes of $5.7 million, which includes the principal balance of the 2020 Convertible Notes of $6.1 million and accrued but unpaid interest of $0.1 million, net of the unamortized debt discount of $0.5 million, plus the then-current fair value of derivative liability associated with the 2020 Convertible Notes at the time of the extinguishment of $0.7 million.
2021 Avenue Loan [Member] | Convertible Notes Payable [Member]                
Convertible Notes (Details) [Line Items]                
Convertible notes payable     5,000     $ 5,000    
Interest expense     200     300    
Amortization of debt discount     41     64    
Convertible notes payable, description   In May 2021, we entered into the 2021 Avenue Loan from which we granted to Avenue the right, in its discretion, but not the obligation, at any time from time to time from May 21, 2022 through May 21, 2024, while the loan is outstanding, to convert an amount of up to $5.0 million of the principal amount of the outstanding loan into shares of Common Stock at a price per share equal to 120% of the stock purchase price set forth in the Avenue Warrant (see Note 8).            
Loan outstanding   $ 5,000            
Conversion percentage of common stock price for convertible note payable   120.00%            
Unamortized debt discount and issuance costs     400     400    
Coupon interest expense     $ 100     $ 200    
Effective interest rate     15.46%