Quarterly report pursuant to Section 13 or 15(d)

Stockholders' Equity - Additional Information (Details)

v3.21.2
Stockholders' Equity - Additional Information (Details) - $ / shares
1 Months Ended 9 Months Ended
Oct. 01, 2018
Aug. 31, 2017
Sep. 30, 2021
Dec. 31, 2020
Feb. 28, 2020
Stockholders Equity [Line Items]          
Voting rights per share     one vote per share    
Preferred stock shares authorized     10,000,000 10,000,000  
Preferred stock, par value     $ 0.001 $ 0.001  
Preferred stock, outstanding     0 0  
Loan and Security Agreement | Oxford Finance LLC          
Stockholders Equity [Line Items]          
Issuance of warrants to purchase shares         54,171
Loan and Security Agreement | Silicon Valley Bank          
Stockholders Equity [Line Items]          
Issuance of warrants to purchase shares         27,086
Loan and Security Agreement | Oxford Finance LLC and Silicon Valley Bank          
Stockholders Equity [Line Items]          
Issuance of warrants to purchase shares         81,257
Exercise price per share         $ 9.23
Series E Redeemable Convertible Preferred Stock          
Stockholders Equity [Line Items]          
Issuance of warrants to purchase shares 46,359        
Preferred stock, conversion basis 1-for-0.0275        
Series C Redeemable Convertible Preferred Stock          
Stockholders Equity [Line Items]          
Issuance of warrants to purchase shares 25,454        
Preferred stock, conversion basis 1-for-0.0370        
Cancellation of redeemable convertible preferred warrants 1,232,220        
Conversion of warrants to purchase of shares of common stock 687,928        
Oxford Finance LLC and Silicon Valley Bank | Series D Two Redeemable Convertible Preferred Stock | Loan and Security Agreement          
Stockholders Equity [Line Items]          
Issuance of warrants to purchase shares   682,230      
Exercise price per share   $ 0.6596      
Oxford Finance LLC and Silicon Valley Bank | Series E Redeemable Convertible Preferred Stock | Loan and Security Agreement          
Stockholders Equity [Line Items]          
Issuance of warrants to purchase shares   1,682,871      
Exercise price per share   $ 0.2674      
Term of warrant exercisable   10 years