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 6 Months Ended 12 Months Ended
Jun. 30, 2021
USD ($)
Customer
Jun. 30, 2020
USD ($)
Customer
Jun. 30, 2021
USD ($)
Customer
Jun. 30, 2020
USD ($)
Customer
Dec. 31, 2020
USD ($)
Customer
Dec. 31, 2019
USD ($)
Significant Accounting Policies [Line Items]            
Positive (negative) cash flows from operations     $ (991) $ (2,777) $ 1,433 $ (30,432)
Net loss $ 12,715 $ 11,793 43,282 24,477 47,876 $ 62,078
Accumulated deficit 323,647   323,647   280,365  
Net proceeds from sales of common stock from the period         59,771  
Proceeds from issuances of stock under employee stock plans, net     4,794 140    
Net proceeds from sales of common stock       6,527    
Proceeds from the exercise of warrants     2,279 $ 2,100    
Cash and cash equivalents 120,627   120,627   $ 114,817  
Transaction price remaining performance obligations $ 4,668   $ 4,668      
Transaction price remaining performance obligations percentage 71.00%   71.00%      
Sales Revenue, Net [Member] | Customer Concentration Risk [Member]            
Significant Accounting Policies [Line Items]            
Number of major customers | Customer 1 1 0 0    
Concentration risk percentage 10.00% 11.00% 10.00% 10.00%    
Accounts Receivable [Member] | Customer Concentration Risk [Member]            
Significant Accounting Policies [Line Items]            
Number of major customers | Customer       2 2  
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