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Debt - Narrative (Details)			3 Months Ended		9 Months Ended
	Sep. 25, 2020 USD ($)	Mar. 02, 2020 USD ($)	Sep. 30, 2021 USD ($)	Sep. 30, 2020 USD ($)	Sep. 30, 2021 USD ($)	Sep. 30, 2020 USD ($)	Oct. 01, 2022 installmentPayment
Debt Instrument [Line Items]
Proceeds from long-term borrowing					$ 0	$ 17,500,000
Origination fee	$ 125,000
Exit fee percentage			3.75%		3.75%
Amortization of long-term debt issuance costs and fees					$ 213,000	39,000
Long-term debt			$ 16,801,000		16,801,000
Interest paid on debt			$ 344,000	$ 0	1,041,000	142,000
Repayment of long-term debt					$ 0	$ 4,999,000
Secured Debt | MidCap Credit Agreement
Debt Instrument [Line Items]
Debt instrument, face amount	$ 25,000,000
Floating interest rate	6.25%
Variable rate	1.50%
Interest rate increase					2.00%
Secured Debt | MidCap Credit Agreement | Forecast
Debt Instrument [Line Items]
Number of monthly installment payments | installmentPayment							36
Secured Debt | MidCap Credit Agreement | Prior to first anniversary
Debt Instrument [Line Items]
Early termination fee			3.00%		3.00%
Secured Debt | MidCap Credit Agreement | After first anniversary
Debt Instrument [Line Items]
Early termination fee			1.00%		1.00%
Secured Debt | MidCap Credit Agreement - Tranche 1
Debt Instrument [Line Items]
Proceeds from long-term borrowing	$ 17,500,000
Fee amount	656,000
Proceeds from debt, net of fees and issuance costs	16,512,000
Unamortized debt issuance costs	332,000
Secured Debt | MidCap Credit Agreement - Tranche 2
Debt Instrument [Line Items]
Debt instrument, face amount			$ 7,500,000		$ 7,500,000
Funding condition, required proceeds from equity issuance			20,000,000		20,000,000
Unamortized debt issuance costs	$ 73,000		0		0
Amortization of long-term debt issuance costs and fees			$ 36,000		$ 73,000
Loans Payable | Secured Debt | Hercules Technology Growth Capital
Debt Instrument [Line Items]
Repayment of long-term debt		$ 4,999,000
Payments for debt end term fees		$ 100,000

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