Condensed Consolidated Statements of Convertible Preferred Stock and Stockholders’ Equity (Deficit) - USD ($) $ in Thousands | Total | Previously Reported | Revision of Prior Period, Adjustment | Common Stock | Common StockPreviously Reported | Common StockRevision of Prior Period, Adjustment | Treasury Stock | Treasury StockPreviously Reported | Treasury StockRevision of Prior Period, Adjustment | Additional Paid-In Capital | Additional Paid-In CapitalPreviously Reported | Additional Paid-In CapitalRevision of Prior Period, Adjustment | Accumulated Other Comprehensive Income (Loss) | Accumulated Other Comprehensive Income (Loss)Previously Reported | Accumulated Deficit | Accumulated DeficitPreviously Reported |
Convertible preferred stock, beginning balance (in shares) at Dec. 31, 2019 | 0 | 0 | | | | | | | | | | | | | | |
Convertible preferred stock, beginning balance at Dec. 31, 2019 | $ 0 | $ 0 | | | | | | | | | | | | | | |
Convertible preferred stock, ending balance (in shares) at Mar. 31, 2020 | 0 | | | | | | | | | | | | | | | |
Convertible preferred stock, ending balance at Mar. 31, 2020 | $ 0 | | | | | | | | | | | | | | | |
Common stock, beginning balance (in shares) at Dec. 31, 2019 | | | | 60,799,502 | 72,657,092 | (11,857,590) | 0 | (112,645) | 112,645 | | | | | | | |
Common stock, beginning balance at Dec. 31, 2019 | 20,420 | $ 20,420 | $ 0 | $ 6 | $ 727 | $ (721) | $ 0 | $ (347) | $ 347 | $ 378,738 | $ 378,364 | $ 374 | $ 27 | $ 27 | $ (358,351) | $ (358,351) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] | | | | | | | | | | | | | | | | |
Issuance of Common Stock upon exercise of options (in shares) | | | | 18,019 | | | | | | | | | | | | |
Issuance of Common Stock upon exercise of options | 38 | | | | | | | | | 38 | | | | | | |
Issuance of Common Stock for services | 115 | | | | | | | | | 115 | | | | | | |
Stock-based compensation | 3,039 | | | | | | | | | 3,039 | | | | | | |
Surrender of shares in cashless exercise (in shares) | | | | (481) | | | | | | | | | | | | |
Surrender of shares in cashless exercise | 5 | | | | | | | | | 5 | | | | | | |
Other comprehensive loss | (18) | | | | | | | | | | | | (18) | | | |
Other | 148 | | | | | | | | | 148 | | | | | | |
Net loss | (17,579) | | | | | | | | | | | | | | (17,579) | |
Common stock, ending balance (in shares) at Mar. 31, 2020 | | | | 60,817,040 | | | 0 | | | | | | | | | |
Common stock, ending balance at Mar. 31, 2020 | $ 6,158 | | | $ 6 | | | $ 0 | | | 382,073 | | | 9 | | (375,930) | |
Convertible preferred stock, beginning balance (in shares) at Dec. 31, 2019 | 0 | 0 | | | | | | | | | | | | | | |
Convertible preferred stock, beginning balance at Dec. 31, 2019 | $ 0 | $ 0 | | | | | | | | | | | | | | |
Convertible preferred stock, ending balance (in shares) at Sep. 30, 2020 | 0 | | | | | | | | | | | | | | | |
Convertible preferred stock, ending balance at Sep. 30, 2020 | $ 0 | | | | | | | | | | | | | | | |
Common stock, beginning balance (in shares) at Dec. 31, 2019 | | | | 60,799,502 | 72,657,092 | (11,857,590) | 0 | (112,645) | 112,645 | | | | | | | |
Common stock, beginning balance at Dec. 31, 2019 | 20,420 | $ 20,420 | $ 0 | $ 6 | $ 727 | $ (721) | $ 0 | $ (347) | $ 347 | 378,738 | 378,364 | 374 | 27 | 27 | (358,351) | (358,351) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] | | | | | | | | | | | | | | | | |
Issuance of Common Stock for services | 189 | | | | | | | | | | | | | | | |
Other comprehensive loss | (29) | | | | | | | | | | | | | | | |
Net loss | (44,101) | | | | | | | | | | | | | | | |
Common stock, ending balance (in shares) at Sep. 30, 2020 | | | | 61,326,397 | | | 0 | | | | | | | | | |
Common stock, ending balance at Sep. 30, 2020 | $ (12,914) | | | $ 6 | | | $ 0 | | | 389,534 | | | (2) | | (402,452) | |
Convertible preferred stock, beginning balance (in shares) at Mar. 31, 2020 | 0 | | | | | | | | | | | | | | | |
Convertible preferred stock, beginning balance at Mar. 31, 2020 | $ 0 | | | | | | | | | | | | | | | |
Convertible preferred stock, ending balance (in shares) at Jun. 30, 2020 | 0 | | | | | | | | | | | | | | | |
Convertible preferred stock, ending balance at Jun. 30, 2020 | $ 0 | | | | | | | | | | | | | | | |
Common stock, beginning balance (in shares) at Mar. 31, 2020 | | | | 60,817,040 | | | 0 | | | | | | | | | |
Common stock, beginning balance at Mar. 31, 2020 | 6,158 | | | $ 6 | | | $ 0 | | | 382,073 | | | 9 | | (375,930) | |
Increase (Decrease) in Stockholders' Equity [Roll Forward] | | | | | | | | | | | | | | | | |
Issuance of Common Stock upon exercise of options (in shares) | | | | 152,464 | | | | | | | | | | | | |
Issuance of Common Stock upon exercise of options | 247 | | | | | | | | | 247 | | | | | | |
Issuance of Common Stock for services (in shares) | | | | 73,752 | | | | | | | | | | | | |
Issuance of Common Stock for services | 38 | | | | | | | | | 38 | | | | | | |
Stock-based compensation | 3,555 | | | | | | | | | 3,555 | | | | | | |
Other comprehensive loss | (6) | | | | | | | | | | | | (6) | | | |
Net loss | (19,039) | | | | | | | | | | | | | | (19,039) | |
Common stock, ending balance (in shares) at Jun. 30, 2020 | | | | 61,043,256 | | | 0 | | | | | | | | | |
Common stock, ending balance at Jun. 30, 2020 | $ (9,047) | | | $ 6 | | | $ 0 | | | 385,913 | | | 3 | | (394,969) | |
Convertible preferred stock, ending balance (in shares) at Sep. 30, 2020 | 0 | | | | | | | | | | | | | | | |
Convertible preferred stock, ending balance at Sep. 30, 2020 | $ 0 | | | | | | | | | | | | | | | |
Increase (Decrease) in Stockholders' Equity [Roll Forward] | | | | | | | | | | | | | | | | |
Issuance of Common Stock upon exercise of options (in shares) | | | | 283,141 | | | | | | | | | | | | |
Issuance of Common Stock upon exercise of options | 534 | | | | | | | | | 534 | | | | | | |
Issuance of Common Stock for services | 37 | | | | | | | | | 37 | | | | | | |
Stock-based compensation | 3,050 | | | | | | | | | 3,050 | | | | | | |
Other comprehensive loss | (5) | | | | | | | | | | | | (5) | | | |
Net loss | (7,483) | | | | | | | | | | | | | | (7,483) | |
Common stock, ending balance (in shares) at Sep. 30, 2020 | | | | 61,326,397 | | | 0 | | | | | | | | | |
Common stock, ending balance at Sep. 30, 2020 | $ (12,914) | | | $ 6 | | | $ 0 | | | 389,534 | | | (2) | | (402,452) | |
Convertible preferred stock, beginning balance (in shares) at Dec. 31, 2020 | 0 | 31,485,973 | (31,485,973) | | | | | | | | | | | | | |
Convertible preferred stock, beginning balance at Dec. 31, 2020 | $ 0 | $ 202,116 | $ (202,116) | | | | | | | | | | | | | |
Convertible preferred stock, ending balance (in shares) at Mar. 31, 2021 | 0 | | | | | | | | | | | | | | | |
Convertible preferred stock, ending balance at Mar. 31, 2021 | $ 0 | | | | | | | | | | | | | | | |
Common stock, beginning balance (in shares) at Dec. 31, 2020 | 114,266,515 | | | 114,266,515 | 73,481,228 | 40,785,287 | 0 | (113,220) | 113,220 | | | | | | | |
Common stock, beginning balance at Dec. 31, 2020 | $ 185,917 | $ (16,199) | $ 202,116 | $ 11 | $ 735 | $ (724) | $ 0 | $ (352) | $ 352 | 597,274 | 394,786 | 202,488 | (2) | (2) | (411,366) | (411,366) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] | | | | | | | | | | | | | | | | |
Issuance of Common Stock upon exercise of options (in shares) | | | | 411,789 | | | | | | | | | | | | |
Issuance of Common Stock upon exercise of options | 877 | | | | | | | | | 877 | | | | | | |
Issuance of Common Stock for services (in shares) | | | | 162,737 | | | | | | | | | | | | |
Issuance of Common Stock for services | 114 | | | | | | | | | 114 | | | | | | |
Stock-based compensation | 3,140 | | | | | | | | | 3,140 | | | | | | |
Surrender of shares in cashless exercise (in shares) | | | | (15,189) | | | | | | | | | | | | |
Surrender of shares in cashless exercise | 56 | | | | | | | | | 56 | | | | | | |
Other comprehensive loss | (5) | | | | | | | | | | | | (5) | | | |
Net loss | (9,484) | | | | | | | | | | | | | | (9,484) | |
Common stock, ending balance (in shares) at Mar. 31, 2021 | | | | 114,825,852 | | | 0 | | | | | | | | | |
Common stock, ending balance at Mar. 31, 2021 | $ 180,503 | | | $ 11 | | | $ 0 | | | 601,349 | | | (7) | | (420,850) | |
Convertible preferred stock, beginning balance (in shares) at Dec. 31, 2020 | 0 | 31,485,973 | (31,485,973) | | | | | | | | | | | | | |
Convertible preferred stock, beginning balance at Dec. 31, 2020 | $ 0 | $ 202,116 | $ (202,116) | | | | | | | | | | | | | |
Convertible preferred stock, ending balance (in shares) at Sep. 30, 2021 | 0 | | | | | | | | | | | | | | | |
Convertible preferred stock, ending balance at Sep. 30, 2021 | $ 0 | | | | | | | | | | | | | | | |
Common stock, beginning balance (in shares) at Dec. 31, 2020 | 114,266,515 | | | 114,266,515 | 73,481,228 | 40,785,287 | 0 | (113,220) | 113,220 | | | | | | | |
Common stock, beginning balance at Dec. 31, 2020 | $ 185,917 | $ (16,199) | $ 202,116 | $ 11 | $ 735 | $ (724) | $ 0 | $ (352) | $ 352 | 597,274 | $ 394,786 | $ 202,488 | (2) | $ (2) | (411,366) | $ (411,366) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] | | | | | | | | | | | | | | | | |
Issuance of Common Stock upon exercise of options (in shares) | 976,563 | | | | | | | | | | | | | | | |
Issuance of Common Stock for services | $ 535 | | | | | | | | | | | | | | | |
Other comprehensive loss | (10) | | | | | | | | | | | | | | | |
Net loss | $ (64,240) | | | | | | | | | | | | | | | |
Common stock, ending balance (in shares) at Sep. 30, 2021 | 181,164,377 | | | 181,164,377 | | | 0 | | | | | | | | | |
Common stock, ending balance at Sep. 30, 2021 | $ 625,899 | | | $ 18 | | | $ 0 | | | 1,101,499 | | | (12) | | (475,606) | |
Convertible preferred stock, beginning balance (in shares) at Mar. 31, 2021 | 0 | | | | | | | | | | | | | | | |
Convertible preferred stock, beginning balance at Mar. 31, 2021 | $ 0 | | | | | | | | | | | | | | | |
Convertible preferred stock, ending balance (in shares) at Jun. 30, 2021 | 0 | | | | | | | | | | | | | | | |
Convertible preferred stock, ending balance at Jun. 30, 2021 | $ 0 | | | | | | | | | | | | | | | |
Common stock, beginning balance (in shares) at Mar. 31, 2021 | | | | 114,825,852 | | | 0 | | | | | | | | | |
Common stock, beginning balance at Mar. 31, 2021 | 180,503 | | | $ 11 | | | $ 0 | | | 601,349 | | | (7) | | (420,850) | |
Increase (Decrease) in Stockholders' Equity [Roll Forward] | | | | | | | | | | | | | | | | |
Issuance of Common Stock upon exercise of options (in shares) | | | | 545,677 | | | | | | | | | | | | |
Issuance of Common Stock upon exercise of options | 1,915 | | | | | | | | | 1,915 | | | | | | |
Issuance of Common Stock for services | 150 | | | | | | | | | 150 | | | | | | |
Stock-based compensation | 4,614 | | | | | | | | | 4,614 | | | | | | |
Other comprehensive loss | 14 | | | | | | | | | | | | 14 | | | |
Net loss | (13,337) | | | | | | | | | | | | | | (13,337) | |
Common stock, ending balance (in shares) at Jun. 30, 2021 | | | | 115,371,529 | | | 0 | | | | | | | | | |
Common stock, ending balance at Jun. 30, 2021 | $ 173,859 | | | $ 11 | | | $ 0 | | | 608,028 | | | 7 | | (434,187) | |
Increase (Decrease) in Temporary Equity [Roll Forward] | | | | | | | | | | | | | | | | |
Effect of Business Combination, net of transaction costs of $35,972,969 (in shares) | 0 | | | | | | | | | | | | | | | |
Issuance of Common Stock upon Business Combination, net of transaction costs of $31,511 | $ 0 | | | | | | | | | | | | | | | |
Convertible preferred stock, ending balance (in shares) at Sep. 30, 2021 | 0 | | | | | | | | | | | | | | | |
Convertible preferred stock, ending balance at Sep. 30, 2021 | $ 0 | | | | | | | | | | | | | | | |
Increase (Decrease) in Stockholders' Equity [Roll Forward] | | | | | | | | | | | | | | | | |
Issuance of Common Stock upon exercise of options (in shares) | | | | 19,116 | | | | | | | | | | | | |
Issuance of Common Stock upon exercise of options | 63 | | | | | | | | | 63 | | | | | | |
Issuance of Common Stock for services (in shares) | | | | 12,342 | | | | | | | | | | | | |
Issuance of Common Stock for services | 273 | | | | | | | | | 273 | | | | | | |
Stock-based compensation | 11,742 | | | | | | | | | 11,742 | | | | | | |
Issuance of Common Stock upon conversion of convertible debt (in shares) | | | | 571,642 | | | | | | | | | | | | |
Issuance of Common Stock upon conversion of convertible debt | 4,631 | | | | | | | | | 4,631 | | | | | | |
Issuance of Common Stock upon Business Combination, net of transaction costs of $31,511 (in shares) | | | | 28,689,748 | | | | | | | | | | | | |
Issuance of Common Stock upon Business Combination, net of transaction costs of $31,511 | 119,571 | | | $ 3 | | | | | | 119,568 | | | | | | |
Issuance of Common Stock upon PIPE Investment, net of transaction costs of $7,802 (in shares) | | | | 36,500,000 | | | | | | | | | | | | |
Issuance of Common Stock upon PIPE Investment, net of transaction costs of $7,802 | 357,198 | | | $ 4 | | | | | | 357,194 | | | | | | |
Other comprehensive loss | (19) | | | | | | | | | | | | (19) | | | |
Net loss | $ (41,419) | | | | | | | | | | | | | | (41,419) | |
Common stock, ending balance (in shares) at Sep. 30, 2021 | 181,164,377 | | | 181,164,377 | | | 0 | | | | | | | | | |
Common stock, ending balance at Sep. 30, 2021 | $ 625,899 | | | $ 18 | | | $ 0 | | | $ 1,101,499 | | | $ (12) | | $ (475,606) | |
Convertible preferred stock, ending balance (in shares) at Sep. 01, 2021 | 31,485,973 | | | | | | | | | | | | | | | |
Increase (Decrease) in Stockholders' Equity [Roll Forward] | | | | | | | | | | | | | | | | |
Issuance of Common Stock upon PIPE Investment, net of transaction costs of $7,802 (in shares) | 36,500,000 | | | | | | | | | | | | | | | |
Common stock, ending balance (in shares) at Sep. 01, 2021 | 181,163,363 | | | | | | | | | | | | | | | |