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Net Loss Per Share Attributable to Common Stockholders - Schedule of Basic and Diluted Net Loss Per Common Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Earnings Per Share [Abstract]
Net loss	$ (11,449)	$ (7,794)
Cumulative dividends on convertible preferred stock		(1,299)
Net loss attributable to common stockholders	$ (11,449)	$ (9,093)
Net loss per common share—basic and diluted	$ (0.54)	$ (6.61)
Weighted-average number of shares used in computing net loss per common share—basic and diluted	21,020,378	1,375,177

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