Condensed Consolidated Statements of Redeemable Convertible Preferred Stock and Shareholders' Equity (Unaudited) - USD ($) $ in Thousands | Total | Previously Reported | Revision of Prior Period, Reclassification, Adjustment | Common Stock | Common StockPreviously Reported | Common StockRevision of Prior Period, Reclassification, Adjustment | Common StockPIPE Investors | Additional Paid-in Capital | Additional Paid-in CapitalPreviously Reported | Additional Paid-in CapitalRevision of Prior Period, Reclassification, Adjustment | Accumulated Other Comprehensive (Loss) | Accumulated Other Comprehensive (Loss)Previously Reported | Accumulated Other Comprehensive (Loss)Revision of Prior Period, Reclassification, Adjustment | Accumulated Deficit | Accumulated DeficitPreviously Reported | Accumulated DeficitRevision of Prior Period, Reclassification, Adjustment | Redeemable Convertible Preferred Stock | Redeemable Convertible Preferred StockPreviously Reported | Redeemable Convertible Preferred StockRevision of Prior Period, Reclassification, Adjustment | Series C Redeemable Convertible Preferred Stock | Series C Redeemable Convertible Preferred StockAdditional Paid-in Capital |
Temporary equity, Balance at the beginning at Dec. 31, 2019 | | | | | | | | | | | | | | | | | | $ 83,211 | $ (83,211) | | |
Temporary equity, Balance at the beginning (in shares) at Dec. 31, 2019 | | | | | | | | | | | | | | | | | 0 | 66,718,509 | (66,718,509) | | |
Balance at the beginning at Dec. 31, 2019 | $ 29,386 | $ (53,825) | $ 83,211 | $ 1 | $ 1 | | | $ 84,670 | $ 1,459 | $ 83,211 | | | | $ (55,285) | $ (55,285) | | | | | | |
Balance at the beginning (in shares) at Dec. 31, 2019 | | | | 13,155,487 | 8,178,290 | 4,977,197 | | | | | | | | | | | | | | | |
Issuance costs of series C redeemable convertible preferred stock | | | | | | | | | | | | | | | | | | | | $ (7) | $ (7) |
Exercises of stock options | 84 | | | | | | | 84 | | | | | | | | | | | | | |
Exercises of stock options, shares | | | | 39,441 | | | | | | | | | | | | | | | | | |
Restricted stock forfeited, shares | | | | (5,123) | | | | | | | | | | | | | | | | | |
Reclassification to liability for early exercised stock options | (75) | | | | | | | (75) | | | | | | | | | | | | | |
Vesting of early exercised stock options | 22 | | | | | | | 22 | | | | | | | | | | | | | |
Stock-based compensation expense | 180 | | | | | | | 180 | | | | | | | | | | | | | |
Net loss | (6,287) | | | | | | | | | | | | | (6,287) | | | | | | | |
Balance at the end at Mar. 31, 2020 | 23,303 | | | $ 1 | | | | 84,874 | | | | | | (61,572) | | | | | | | |
Balance at the end (in shares) at Mar. 31, 2020 | | | | 13,189,805 | | | | | | | | | | | | | | | | | |
Temporary equity, Balance at the end at Mar. 31, 2020 | | | | | | | | | | | | | | | | | $ 0 | | | | |
Temporary equity, Balance at the end (in shares) at Mar. 31, 2020 | | | | | | | | | | | | | | | | | 0 | | | | |
Temporary equity, Balance at the beginning at Dec. 31, 2019 | | | | | | | | | | | | | | | | | | $ 83,211 | $ (83,211) | | |
Temporary equity, Balance at the beginning (in shares) at Dec. 31, 2019 | | | | | | | | | | | | | | | | | 0 | 66,718,509 | (66,718,509) | | |
Balance at the beginning at Dec. 31, 2019 | 29,386 | (53,825) | 83,211 | $ 1 | $ 1 | | | 84,670 | 1,459 | 83,211 | | | | (55,285) | (55,285) | | | | | | |
Balance at the beginning (in shares) at Dec. 31, 2019 | | | | 13,155,487 | 8,178,290 | 4,977,197 | | | | | | | | | | | | | | | |
Repurchase of early exercised stock options | 0 | | | | | | | | | | | | | | | | | | | | |
Net loss | (21,889) | | | | | | | | | | | | | | | | | | | | |
Balance at the end at Sep. 30, 2020 | 57,908 | | | $ 2 | | | | 135,080 | | | | | | (77,174) | | | | | | | |
Balance at the end (in shares) at Sep. 30, 2020 | | | | 18,236,041 | | | | | | | | | | | | | | | | | |
Temporary equity, Balance at the end at Sep. 30, 2020 | | | | | | | | | | | | | | | | | $ 0 | | | | |
Temporary equity, Balance at the end (in shares) at Sep. 30, 2020 | | | | | | | | | | | | | | | | | 0 | | | | |
Temporary equity, Balance at the beginning at Mar. 31, 2020 | | | | | | | | | | | | | | | | | $ 0 | | | | |
Temporary equity, Balance at the beginning (in shares) at Mar. 31, 2020 | | | | | | | | | | | | | | | | | 0 | | | | |
Balance at the beginning at Mar. 31, 2020 | 23,303 | | | $ 1 | | | | 84,874 | | | | | | (61,572) | | | | | | | |
Balance at the beginning (in shares) at Mar. 31, 2020 | | | | 13,189,805 | | | | | | | | | | | | | | | | | |
Issuance of Series C redeemable convertible preferred stock, net of issuance costs | | | | $ 1 | | | | | | | | | | | | | | | | $ 49,893 | $ 49,892 |
Issuance of Series C redeemable convertible preferred stock, net of issuance costs, shares | | | | 5,018,525 | | | | | | | | | | | | | | | | | |
Exercises of stock options | 8 | | | | | | | 8 | | | | | | | | | | | | | |
Exercises of stock options, shares | | | | 6,498 | | | | | | | | | | | | | | | | | |
Reclassification to liability for early exercised stock options | (3) | | | | | | | (3) | | | | | | | | | | | | | |
Vesting of early exercised stock options | 20 | | | | | | | 20 | | | | | | | | | | | | | |
Stock-based compensation expense | 128 | | | | | | | 128 | | | | | | | | | | | | | |
Net loss | (6,967) | | | | | | | | | | | | | (6,967) | | | | | | | |
Balance at the end at Jun. 30, 2020 | 66,382 | | | $ 2 | | | | 134,919 | | | | | | (68,539) | | | | | | | |
Balance at the end (in shares) at Jun. 30, 2020 | | | | 18,214,828 | | | | | | | | | | | | | | | | | |
Temporary equity, Balance at the end at Jun. 30, 2020 | | | | | | | | | | | | | | | | | $ 0 | | | | |
Temporary equity, Balance at the end (in shares) at Jun. 30, 2020 | | | | | | | | | | | | | | | | | 0 | | | | |
Exercises of stock options | 14 | | | | | | | 14 | | | | | | | | | | | | | |
Exercises of stock options, shares | | | | 4,051 | | | | | | | | | | | | | | | | | |
Restricted stock granted, shares | | | | 17,564 | | | | | | | | | | | | | | | | | |
Reclassification to liability for early exercised stock options | (11) | | | | | | | (11) | | | | | | | | | | | | | |
Vesting of early exercised stock options | 18 | | | | | | | 18 | | | | | | | | | | | | | |
Repurchase of early exercised stock options, shares | | | | (402) | | | | | | | | | | | | | | | | | |
Stock-based compensation expense | 140 | | | | | | | 140 | | | | | | | | | | | | | |
Net loss | (8,635) | | | | | | | | | | | | | (8,635) | | | | | | | |
Balance at the end at Sep. 30, 2020 | 57,908 | | | $ 2 | | | | 135,080 | | | | | | (77,174) | | | | | | | |
Balance at the end (in shares) at Sep. 30, 2020 | | | | 18,236,041 | | | | | | | | | | | | | | | | | |
Temporary equity, Balance at the end at Sep. 30, 2020 | | | | | | | | | | | | | | | | | $ 0 | | | | |
Temporary equity, Balance at the end (in shares) at Sep. 30, 2020 | | | | | | | | | | | | | | | | | 0 | | | | |
Temporary equity, Balance at the beginning at Dec. 31, 2020 | | | | | | | | | | | | | | | | | $ 0 | $ 133,097 | $ (133,097) | | |
Temporary equity, Balance at the beginning (in shares) at Dec. 31, 2020 | | | | | | | | | | | | | | | | | 0 | 95,289,932 | (95,289,932) | | |
Balance at the beginning at Dec. 31, 2020 | 47,293 | (85,804) | 133,097 | $ 2 | $ 1 | $ 1 | | 135,292 | 2,196 | 133,096 | $ 0 | $ 0 | $ 0 | (88,001) | (88,001) | | | | | | |
Balance at the beginning (in shares) at Dec. 31, 2020 | | | | 18,256,628 | 8,648,718 | 9,607,910 | | | | | | | | | | | | | | | |
Exercises of stock options | 196 | | | | | | | 196 | | | | | | | | | | | | | |
Exercises of stock options, shares | | | | 76,370 | | | | | | | | | | | | | | | | | |
Restricted stock granted, shares | | | | 122,950 | | | | | | | | | | | | | | | | | |
Reclassification to liability for early exercised stock options | (120) | | | | | | | (120) | | | | | | | | | | | | | |
Vesting of early exercised stock options | 30 | | | | | | | 30 | | | | | | | | | | | | | |
Stock-based compensation expense | 475 | | | | | | | 475 | | | | | | | | | | | | | |
Net loss | (13,022) | | | | | | | | | | | | | (13,022) | | | | | | | |
Balance at the end at Mar. 31, 2021 | 34,852 | | | $ 2 | | | | 135,873 | | | 0 | | | (101,023) | | | | | | | |
Balance at the end (in shares) at Mar. 31, 2021 | | | | 18,455,948 | | | | | | | | | | | | | | | | | |
Temporary equity, Balance at the end at Mar. 31, 2021 | | | | | | | | | | | | | | | | | $ 0 | | | | |
Temporary equity, Balance at the end (in shares) at Mar. 31, 2021 | | | | | | | | | | | | | | | | | 0 | | | | |
Temporary equity, Balance at the beginning at Dec. 31, 2020 | | | | | | | | | | | | | | | | | $ 0 | $ 133,097 | $ (133,097) | | |
Temporary equity, Balance at the beginning (in shares) at Dec. 31, 2020 | | | | | | | | | | | | | | | | | 0 | 95,289,932 | (95,289,932) | | |
Balance at the beginning at Dec. 31, 2020 | $ 47,293 | $ (85,804) | $ 133,097 | $ 2 | $ 1 | $ 1 | | 135,292 | $ 2,196 | $ 133,096 | 0 | $ 0 | $ 0 | (88,001) | $ (88,001) | | | | | | |
Balance at the beginning (in shares) at Dec. 31, 2020 | | | | 18,256,628 | 8,648,718 | 9,607,910 | | | | | | | | | | | | | | | |
Issuance of Series C redeemable convertible preferred stock, net of issuance costs, shares | 12,020,000 | | | 12,020,000 | | | | | | | | | | | | | | | | | |
Exercises of stock options, shares | 154,427 | | | | | | | | | | | | | | | | | | | | |
Repurchase of early exercised stock options | $ 1 | | | | | | | | | | | | | | | | | | | | |
Net loss | (39,694) | | | | | | | | | | | | | | | | | | | | |
Balance at the end at Sep. 30, 2021 | $ 123,731 | | | $ 4 | | | | 251,438 | | | (16) | | | (127,695) | | | | | | | |
Balance at the end (in shares) at Sep. 30, 2021 | | | | 35,027,407 | | | | | | | | | | | | | | | | | |
Temporary equity, Balance at the end at Sep. 30, 2021 | | | | | | | | | | | | | | | | | $ 0 | | | | |
Temporary equity, Balance at the end (in shares) at Sep. 30, 2021 | 0 | | | | | | | | | | | | | | | | 0 | | | | |
Temporary equity, Balance at the beginning at Mar. 31, 2021 | | | | | | | | | | | | | | | | | $ 0 | | | | |
Temporary equity, Balance at the beginning (in shares) at Mar. 31, 2021 | | | | | | | | | | | | | | | | | 0 | | | | |
Balance at the beginning at Mar. 31, 2021 | $ 34,852 | | | $ 2 | | | | 135,873 | | | 0 | | | (101,023) | | | | | | | |
Balance at the beginning (in shares) at Mar. 31, 2021 | | | | 18,455,948 | | | | | | | | | | | | | | | | | |
Exercises of stock options | 109 | | | | | | | 109 | | | | | | | | | | | | | |
Exercises of stock options, shares | | | | 50,179 | | | | | | | | | | | | | | | | | |
Restricted stock granted, shares | | | | 70,258 | | | | | | | | | | | | | | | | | |
Restricted stock forfeited, shares | | | | (16,467) | | | | | | | | | | | | | | | | | |
Reclassification to liability for early exercised stock options | (65) | | | | | | | (65) | | | | | | | | | | | | | |
Vesting of early exercised stock options | 47 | | | | | | | 47 | | | | | | | | | | | | | |
Repurchase of early exercised stock options, shares | | | | (1,142) | | | | | | | | | | | | | | | | | |
Stock-based compensation expense | 532 | | | | | | | 532 | | | | | | | | | | | | | |
Net loss | (12,653) | | | | | | | | | | | | | (12,653) | | | | | | | |
Balance at the end at Jun. 30, 2021 | 22,822 | | | $ 2 | | | | 136,496 | | | 0 | | | (113,676) | | | | | | | |
Balance at the end (in shares) at Jun. 30, 2021 | | | | 18,558,776 | | | | | | | | | | | | | | | | | |
Temporary equity, Balance at the end at Jun. 30, 2021 | | | | | | | | | | | | | | | | | $ 0 | | | | |
Temporary equity, Balance at the end (in shares) at Jun. 30, 2021 | | | | | | | | | | | | | | | | | 0 | | | | |
Issuance of common stock upon Business Combination and PIPE Financing, net of issuance costs and warrant liabilities | 114,248 | | | $ 2 | | | | 114,246 | | | | | | | | | | | | | |
Issuance of common stock upon Business Combination and PIPE Financing, net of issuance costs and warrant liabilities, shares | | | | 16,440,757 | | | | | | | | | | | | | | | | | |
Exercises of stock options | 72 | | | | | | | 72 | | | | | | | | | | | | | |
Exercises of stock options, shares | | | | 0 | | | 27,874 | | | | | | | | | | | | | | |
Reclassification to liability for early exercised stock options | (40) | | | | | | | (40) | | | | | | | | | | | | | |
Vesting of early exercised stock options | 48 | | | | | | | 48 | | | | | | | | | | | | | |
Stock-based compensation expense | 616 | | | | | | | 616 | | | | | | | | | | | | | |
Other comprehensive loss | (16) | | | | | | | | | | (16) | | | | | | | | | | |
Net loss | (14,019) | | | | | | | | | | | | | (14,019) | | | | | | | |
Balance at the end at Sep. 30, 2021 | $ 123,731 | | | $ 4 | | | | $ 251,438 | | | $ (16) | | | $ (127,695) | | | | | | | |
Balance at the end (in shares) at Sep. 30, 2021 | | | | 35,027,407 | | | | | | | | | | | | | | | | | |
Temporary equity, Balance at the end at Sep. 30, 2021 | | | | | | | | | | | | | | | | | $ 0 | | | | |
Temporary equity, Balance at the end (in shares) at Sep. 30, 2021 | 0 | | | | | | | | | | | | | | | | 0 | | | | |