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Stockholders' Equity (Deficit) - Summary of Stock Option Activity (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Equity [Abstract]    
Options awards outstanding, Beginning balance | shares 23,782  
Options awards outstanding, Granted | shares 60  
Options awards outstanding, Exercised | shares (61)  
Options awards outstanding, Cancelled/Forfeited | shares (4,885)  
Options awards outstanding, Expired | shares (483)  
Options awards outstanding, Ending balance | shares 18,413 23,782
Options award outstanding, weighted average exercise price, Beginning balance | $ / shares $ 4.80  
Options award outstanding, weighted average exercise price, Granted | $ / shares 1.21  
Options award outstanding, weighted average exercise price, Exercised | $ / shares 0.40  
Options award outstanding, weighted average exercise price, Cancelled/Forfeited | $ / shares 4.95  
Options award outstanding, weighted average exercise price, Expired | $ / shares 5.59  
Options award outstanding, weighted average exercise price, Ending balance | $ / shares $ 4.40 $ 4.80
Options award outstanding, aggregate intrinsic value | $ $ 21 $ 152
Options award outstanding, weighted average remaining contractual life 4 years 2 months 12 days 5 years 2 months 12 days
Options award exercisable | shares 17,228 19,863
Options award exercisable, weighted average exercise price | $ / shares $ 4.53 $ 5.06
Options award exercisable, aggregate intrinsic value | $ $ 21 $ 117
Options award exercisable, weighted average remaining contractual life 3 years 10 months 24 days 4 years 7 months 6 days