Quarterly report pursuant to Section 13 or 15(d)

Presentation and Summary of Significant Accounting Policies - Additional Information (Details)

v3.21.2
Presentation and Summary of Significant Accounting Policies - Additional Information (Details)
$ in Thousands
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2021
USD ($)
Customer
Sep. 30, 2020
USD ($)
Customer
Sep. 30, 2021
USD ($)
Customer
Sep. 30, 2020
USD ($)
Customer
Dec. 31, 2020
USD ($)
Customer
Significant Accounting Policies [Line Items]          
Positive (negative) cash flows from operations     $ (3,528)   $ 1,433
Net loss $ 11,444 $ 11,013 54,726 $ 35,490 47,876
Accumulated deficit 335,091   335,091   280,365
Net proceeds from sales of common stock from the period         59,771
Proceeds from issuances of stock under employee stock plans, net     7,127 356  
Net proceeds from sales of common stock       6,517  
Proceeds from the exercise of warrants     2,279 $ 2,100  
Cash and cash equivalents 72,645   72,645   $ 114,817
Transaction price remaining performance obligations $ 8,346   $ 8,346    
Transaction price remaining performance obligations percentage 52.00%   52.00%    
Sales Revenue, Net [Member] | Customer Concentration Risk [Member]          
Significant Accounting Policies [Line Items]          
Number of major customers | Customer 2 0 0 0  
Sales Revenue, Net [Member] | Customer Concentration Risk [Member] | Minimum [Member]          
Significant Accounting Policies [Line Items]          
Concentration risk percentage 27.00% 10.00% 10.00% 10.00%  
Accounts Receivable [Member] | Customer Concentration Risk [Member] | Commercial Enterprise [Member]          
Significant Accounting Policies [Line Items]          
Number of major customers | Customer     3   2
Accounts Receivable [Member] | Customer Concentration Risk [Member] | Commercial Enterprise [Member] | Minimum [Member]          
Significant Accounting Policies [Line Items]          
Concentration risk percentage     10.00%   10.00%
Equity Distribution Agreement [Member]          
Significant Accounting Policies [Line Items]          
Net proceeds from sales of common stock         $ 5,986