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Stock-Based Compensation - Summary of Share Available for Grant Under the 2019 Plan (Details) - Equity Incentive Plan 2019 - $ / shares
shares in Thousands
 3 Months Ended
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Shares Available for Grant      
Balance at the beginning of the year (in shares) 12 71 81
Balance at the end of the period (in shares) 12 12 71
Number of Shares      
Balance at the beginning of the year (in shares) 159 159 159
Balance at the end of the period (in shares) 159 159 159
Weighted Average Exercise Prices      
Weighted-average exercise price (in dollars per share) $ 10.82 $ 10.82 $ 10.82
Weighted-average exercise price (in dollars per share) $ 10.82 $ 10.82 $ 10.82
RSU's      
Shares Available for Grant      
RSUs granted (in shares) 0 (59) (10)
Weighted Average Exercise Prices      
RSUs granted (in dollars per share)   $ 6.70 $ 3.25