Quarterly report pursuant to Section 13 or 15(d)

Summary of Significant Accounting Policies - Classification of Convertible Preferred Stock and Warrant Liability (Details)

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Summary of Significant Accounting Policies - Classification of Convertible Preferred Stock and Warrant Liability (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Dec. 31, 2019
Class of Warrant or Right [Line Items]      
Convertible preferred stock, outstanding 0 77,377,987  
Carrying Value   $ 75,877 $ 72,883
Preferred Stock      
Class of Warrant or Right [Line Items]      
Warrants outstanding 0